CN107992016A - A kind of automatic driving vehicle analog detection method - Google Patents
A kind of automatic driving vehicle analog detection method Download PDFInfo
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- CN107992016A CN107992016A CN201610947265.1A CN201610947265A CN107992016A CN 107992016 A CN107992016 A CN 107992016A CN 201610947265 A CN201610947265 A CN 201610947265A CN 107992016 A CN107992016 A CN 107992016A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
The embodiment of the present invention discloses a kind of automatic driving vehicle analog detection method, including：Simulating scenes are established, generate the emulation data of simulating scenes；Obtain unmanned testing algorithm and the operation result after computing is carried out to the emulation data, the performance of unmanned testing algorithm is determined according to the operation result.The embodiment of the present invention obtains the operation result of unmanned testing algorithm with the performance of definite unmanned testing algorithm by establishing simulating scenes.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.
Description
Technical field
The present invention relates to automobile correlative technology field, particularly a kind of automatic driving vehicle analog detection method.
Background technology
In recent years, unmanned correlation technique is got the attention.Due to pilotless automobile when being tested it is past
Toward that can face higher danger, hardware reliability, algorithm robustness all can be to automatic for generalization ability of complex environment etc.
The final effect for driving algorithm brings very big influence；Simultaneously as including multiple modules in automatic Pilot algorithm, therefore, do not have a
Compatibility between module also can bring influence to the actual use of algorithm；In addition, to unmanned under some dangerous scenes
Algorithm is tested, and has very big danger, and can largely improve testing cost.Therefore, actual road is being carried out
, it is necessary to establish simulator test platform before survey, simulation analysis are carried out to unmanned related algorithm in substantial amounts of test scene,
The robustness and generalization ability to complex environment of algorithm are improved, and the compatibility between hardware reliability and disparate modules is carried out
Verification.In conclusion the design of pilotless automobile simulator is to carry out the premise of unmanned technical research.
However, inventor has found during invention is realized, some existing simulators are some towards automobile mostly
Simple function design carries out, such as automobile power assembly, engine, and auxiliary drives etc., does not support for whole automatic Pilot
Scheme carries out emulation testing.
The content of the invention
Based on this, it is necessary to do not support to carry out for whole automatic Pilot scheme for the automobile simulator of the prior art
A kind of technical problem of emulation testing, there is provided automatic driving vehicle analog detection method.
The embodiment of the present invention provides a kind of automatic driving vehicle analog detection method, including：
Simulating scenes are established, generate the emulation data of simulating scenes；
Obtain unmanned testing algorithm and the operation result after computing is carried out to the emulation data, according to the computing knot
Fruit determines the performance of unmanned testing algorithm.
Further, the unmanned testing algorithm of acquisition carries out the operation result after computing to the emulation data,
The performance of unmanned testing algorithm is determined according to the operation result, is specifically included：
Obtain unmanned testing algorithm to carry out the emulation data after computing to the controlled quentity controlled variable of vehicle, by the control
Amount input vehicle motion simulator；
Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, using the vehicle
Actual travel track determines the performance of the unmanned testing algorithm.
Further, the unmanned testing algorithm includes decision making algorithm, planning algorithm and control algolithm, described to obtain
Take unmanned testing algorithm to carry out the operation result after computing to the emulation data, nobody is determined according to the operation result
The performance of testing algorithm is driven, is specifically included：
Obstacle information, traffic marking board information and lane line information of the decision making algorithm in emulation data judge vehicle
Driving behavior；
Planning algorithm carries out vehicle running path planning according to driving behavior；
Control algolithm is planned according to vehicle running path, the location information and course information of this car, determines that vehicle travels institute
The controlled quentity controlled variable needed, vehicle motion simulator is inputted by the controlled quentity controlled variable；
Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, using the vehicle
Actual travel track determines the performance of decision making algorithm, planning algorithm and control algolithm.
Further, the unmanned testing algorithm includes perception algorithm or location algorithm, and the acquisition is unmanned
Testing algorithm carries out the operation result after computing to the emulation data, determines that unmanned test is calculated according to the operation result
The performance of method, specifically includes：
Obtain the sensor raw data produced according to the emulation data；
The sensing results after the perception algorithm handles the sensor raw data are obtained, or described in acquisition
Location algorithm the sensor raw data is handled after positioning result；
By the sensing results compared with the emulation data, the property of the perception algorithm is determined according to comparative result
Can, or by the positioning result compared with the emulation data, the property of the location algorithm is determined according to comparative result
Energy.
Further, it is described to obtain unmanned testing algorithm to the computing knot after the emulation data progress computing
Fruit, the performance of unmanned testing algorithm is determined according to the operation result, is specifically included：
At least one controlled quentity controlled variable is inputted to vehicle motion simulator so that at least the one of vehicle motion simulator simulating vehicle
A driving states；
Obtain under the driving states, the sensor raw data produced according to the emulation data；
The sensing results after the perception algorithm handles the sensor raw data are obtained, or described in acquisition
Location algorithm the sensor raw data is handled after positioning result；
By the sensing results compared with the emulation data, the property of the perception algorithm is determined according to comparative result
Can, or by the positioning result compared with the emulation data, the property of the location algorithm is determined according to comparative result
Energy.
Further, the unmanned testing algorithm includes decision making algorithm, planning algorithm, control algolithm, perception algorithm
Or location algorithm, it is described to obtain unmanned testing algorithm to the operation result after the emulation data progress computing, according to institute
The performance that operation result determines unmanned testing algorithm is stated, is specifically included：
Obtain the sensor raw data produced according to the emulation data；
Obtain the sensing results after the unmanned testing algorithm handles the sensor raw data and determine
Position result；
The unmanned testing algorithm is obtained to the control after the sensing results and positioning result progress computing to vehicle
Amount processed, vehicle motion simulator is inputted by the controlled quentity controlled variable；
Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, using the vehicle
Actual travel track determines the performance of the unmanned testing algorithm.
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.
Brief description of the drawings
Fig. 1 is a kind of work flow diagram for automatic driving vehicle analog detection method that one embodiment of the invention provides；
Fig. 2 is a kind of work flow diagram for automatic driving vehicle analog detection method that alternative embodiment of the present invention provides；
Fig. 3 provides for alternative embodiment of the present invention realizes that a kind of system of automatic driving vehicle analog detection method system is shown
It is intended to；
Fig. 4 is a kind of workflow for automatic driving vehicle analog detection method that another alternative embodiment of the present invention provides
Figure；
Fig. 5 provided for another alternative embodiment of the present invention realize a kind of automatic driving vehicle analog detection method system be
System schematic diagram；
Fig. 6 is a kind of workflow for automatic driving vehicle analog detection method that yet another alternative embodiment of the present invention provides
Figure；
Fig. 7 provided for yet another alternative embodiment of the present invention realize a kind of automatic driving vehicle analog detection method system be
System schematic diagram；
Fig. 8 is a kind of apparatus module figure for automatic driving vehicle simulating test device that one embodiment of the invention provides；
Fig. 9 is the hard of the electronic equipment for the execution automatic driving vehicle analog detection method that tenth embodiment of the invention provides
Part structure diagram.
Embodiment
The present invention will be further described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one
A kind of workflow of the automatic driving vehicle analog detection method provided as shown in Figure 1 for one embodiment of the invention
Figure, including：
Step S101, establishes simulating scenes, generates the emulation data of simulating scenes；
Step S102, obtains unmanned testing algorithm and carries out the operation result after computing to the emulation data, according to
The operation result determines the performance of unmanned testing algorithm.
Wherein, the simulating scenes that step S101 is established can include the information such as road, lane line, traffic mark, pass through
Various test scenes are established, automobile is completed the test of road scene as much as possible under simulator, and can carry
Status information conduct for all vehicles, means of transportation, pedestrian in scene emulates data.
In step s 102, input value of the unmanned testing algorithm using the emulation data in simulating scenes as algorithm,
Then corresponding operation result is obtained by computing, algorithm performance is determined by operation result.
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.
Embodiment two
It is illustrated in figure 2 a kind of workflow for automatic driving vehicle analog detection method that alternative embodiment of the present invention provides
Cheng Tu, including：
Step S201, establishes simulating scenes, generates the emulation data of simulating scenes.
Step S202, obtains unmanned testing algorithm and the emulation data is carried out after computing to the controlled quentity controlled variable of vehicle,
The controlled quentity controlled variable is inputted into vehicle motion simulator.
Specifically, the unmanned testing algorithm includes decision making algorithm, planning algorithm and control algolithm, decision making algorithm root
Judge vehicle drive behavior according to obstacle information, traffic marking board information and the lane line information in emulation data；
Planning algorithm carries out vehicle running path planning according to driving behavior；
Control algolithm is planned according to vehicle running path, the location information and course information of this car, determines that vehicle travels institute
The controlled quentity controlled variable needed, vehicle motion simulator is inputted by the controlled quentity controlled variable.
Carry out decision-making/planning/control algolithm test when, it is necessary to using this car location information, course information is, it is necessary to make
With building in peripheral obstacle vehicle and environment, traffic marking board and lane line information；Decision making algorithm is hindered by surrounding at this time
Hinder thing vehicle and environmental information to judge vehicle drive behavior, i.e., whether need lane change to overtake other vehicles, or normally travel, and then, planning is calculated
Method carries out vehicle running path planning according to driving behavior, last control algolithm according to the location information and course information of this car,
Determine the controlled quentity controlled variable needed for vehicle traveling, and vehicle motion simulator is sent to by simulator input interface.Existed by vehicle
Actual travel track in vehicle motion simulator, assesses the performance of decision-making/planning/control algolithm.
Step S203, obtains vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable, adopts
The performance of the unmanned testing algorithm is determined with the vehicle actual travel track.
Specifically, vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, is used
The vehicle actual travel track determines the performance of decision making algorithm, planning algorithm and control algolithm.
As shown in figure 3, the system schematic of alternative embodiment of the present invention, including simulating scenes module 31, algoritic module 32
With motor racing/dynamics module 33, wherein：
Simulating scenes module 31：Including information such as road, lane line, traffic marks, for establishing various test scenes, make
Automobile can complete the test of road scene as much as possible, and be capable of providing all vehicles, means of transportation, pedestrian in scene
Status information；
Motor racing/kinetic model 33：Kinematics including automobile, dynamics, suspension, engine, selector etc.
Correlation model, ensures that test result has preferable directive significance for true drive test.
The embodiment of the present invention completes decision-making/planning/control algolithm test.When performing step S201, simulating scenes module
31 establish simulating scenes, provide emulation data to algoritic module 32, then algoritic module 32 performs step S202, determines vehicle row
Required controlled quentity controlled variable, such as engine throttle, front-wheel steer torque, gear information etc. are sailed, and is sent out controlled quentity controlled variable by input interface
The motor racing as vehicle motion simulator/kinetic model 33 is given, by vehicle motion simulator according to the control
Vehicle actual travel track determines the performance of the unmanned testing algorithm caused by amount processed.Wherein, motor racing/dynamic
Mechanical model 33 may operate in a trolley and carry on industrial personal computer, defeated usually by Ethernet or CAN bus receiving sensor signal
Incoming interface includes two kinds of Ethernet interface and CAN interface.
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.Specifically
Ground, the present embodiment implement the test to decision-making/planning/control algolithm.
Embodiment three
It is illustrated in figure 4 a kind of work for automatic driving vehicle analog detection method that another alternative embodiment of the present invention provides
Make flow chart, including：
Step S401, establishes simulating scenes, generates the emulation data of simulating scenes.
Step S402, the unmanned testing algorithm include perception algorithm or location algorithm, obtain according to the emulation
The sensor raw data that data are produced.
Specifically, at least one controlled quentity controlled variable is inputted to vehicle motion simulator so that vehicle motion simulator simulating vehicle
At least one driving states；
Obtain under the driving states, the sensor raw data produced according to the emulation data.
Step S403, obtains the sensing results after the perception algorithm handles the sensor raw data, or
Person obtains the positioning result after the location algorithm handles the sensor raw data.
Step S404, by the sensing results compared with the emulation data, the sense is determined according to comparative result
Know the performance of algorithm, or by the positioning result compared with the emulation data, it is described fixed to be determined according to comparative result
The performance of position algorithm.
As shown in figure 5, the system schematic of another alternative embodiment of the present invention, including simulating scenes module 51, algorithm mould
Block 52, sensor assembly 53 and motor racing/dynamics module 54, wherein：
Simulating scenes module 51：Including information such as road, lane line, traffic marks, for establishing various test scenes, make
Automobile can complete the test of road scene as much as possible, and be capable of providing all vehicles, means of transportation, pedestrian in scene
Status information；
Sensor assembly 53：Initial data can be provided according to scene where automobile, such as：Laser radar, millimetre-wave radar,
The sensor raw datas such as video camera, ultrasonic wave, IMU, GPS, so as to be perceived using data above and location algorithm
Verification；
Motor racing/kinetic model 54：Kinematics including automobile, dynamics, suspension, engine, selector etc.
Correlation model, ensures that test result has preferable directive significance for true drive test.
The embodiment of the present invention completes perception/location algorithm test.When performing step S401, simulating scenes module 51 is established
Simulating scenes, step S402 is performed by sensor assembly 53, and scene provides sensor raw data according to where automobile, to algorithm
Module 52 provides sensor raw data, and then algoritic module 52 performs step S403 and determines sensing results or positioning result.
Furthermore it is also possible to using external control interface to motor racing/kinetic simulation as vehicle motion simulator
Type 54 inputs different controlled quentity controlled variables, the different types of transport condition of simulating vehicle.Algorithm process result is provided with simulating scenes
Corresponding state true value contrasted, judge the performance of perception/location algorithm.
Wherein, motor racing/kinetic model 54 may operate in a trolley and carry on industrial personal computer, usually pass through Ethernet
Or CAN bus receiving sensor signal, external control interface provide the control interfaces such as steering wheel, gearshift, throttle/brake, so as to
Complete dependence test of the driver in ring.Sensor assembly 53 passes through output interface output transducer original number to algoritic module 52
According to.Output interface includes two kinds of Ethernet interface and CAN interface
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.Specifically
Ground, the present embodiment implement the test to perception/location algorithm.
Example IV
It is illustrated in figure 6 a kind of work for automatic driving vehicle analog detection method that yet another alternative embodiment of the present invention provides
Make flow chart, including：
Step S601, establishes simulating scenes, generates the emulation data of simulating scenes.
Step S602, obtains the sensor raw data produced according to the emulation data；
Step S603, the unmanned testing algorithm include decision making algorithm, planning algorithm, control algolithm, perception algorithm
Or location algorithm, obtain the sensing results after the unmanned testing algorithm handles the sensor raw data and
Positioning result；
Step S604, obtains the unmanned testing algorithm to right after the sensing results and positioning result progress computing
The controlled quentity controlled variable of vehicle, vehicle motion simulator is inputted by the controlled quentity controlled variable；
Step S605, obtains vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable, adopts
The performance of the unmanned testing algorithm is determined with the vehicle actual travel track.
As shown in fig. 7, the system schematic of yet another alternative embodiment of the present invention, including simulating scenes module 71, algorithm mould
Block 72, sensor assembly 73 and motor racing/dynamics module 74, wherein：
Simulating scenes module 71：Including information such as road, lane line, traffic marks, for establishing various test scenes, make
Automobile can complete the test of road scene as much as possible, and be capable of providing all vehicles, means of transportation, pedestrian in scene
Status information；
Sensor assembly 73：Initial data can be provided according to scene where automobile, such as：Laser radar, millimetre-wave radar,
The sensor raw datas such as video camera, ultrasonic wave, IMU, GPS, so as to be perceived using data above and location algorithm
Verification；
Motor racing/kinetic model 74：Kinematics including automobile, dynamics, suspension, engine, selector etc.
Correlation model, ensures that test result has preferable directive significance for true drive test.
The embodiment of the present invention completes automatic Pilot closed loop test.Automatic Pilot closed loop test refer at the same time to it is whole nobody drive
The algorithm for sailing system carries out emulation testing.
When performing step S601, simulating scenes module 71 establishes simulating scenes, and step is performed by sensor assembly 73
S602, scene provides sensor raw data according to where automobile, and sensor original is provided to algoritic module 72 by output interface
Beginning data, then algoritic module 72 perform step S603 determine sensing results or positioning result.Then algoritic module 72 performs step
Rapid S604, determines the controlled quentity controlled variable needed for vehicle traveling, such as engine throttle, front-wheel steer torque, gear information etc., and by defeated
Controlled quentity controlled variable is sent to the motor racing as vehicle motion simulator/kinetic model 74 by incoming interface, passes through vehicle movement
Simulator vehicle actual travel track according to caused by the controlled quentity controlled variable determines the performance of the unmanned testing algorithm.Its
In, motor racing/kinetic model 74 may operate in a trolley and carry on industrial personal computer, usually pass through Ethernet or CAN bus
Receiving sensor signal, input interface and output interface include two kinds of Ethernet interface and CAN interface.
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.Specifically
Ground, the present embodiment are implemented to automatic Pilot closed loop test.
Embodiment five
A kind of apparatus module of automatic driving vehicle simulating test device of one embodiment of the invention offer is provided
Figure, including：
Simulating scenes establish module 801, are used for：Simulating scenes are established, generate the emulation data of simulating scenes；
Computing module 802 is tested, is used for：Obtain unmanned testing algorithm and the fortune after computing is carried out to the emulation data
Calculate as a result, determining the performance of unmanned testing algorithm according to the operation result.
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.
Embodiment six
A kind of automatic driving vehicle simulating test device that alternative embodiment of the present invention provides, including：
Simulating scenes establish module, are used for：Simulating scenes are established, generate the emulation data of simulating scenes；
Computing module is tested, is used for：Obtain unmanned testing algorithm to it is described emulation data carry out computing after to vehicle
Controlled quentity controlled variable, by the controlled quentity controlled variable input vehicle motion simulator；
Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, using the vehicle
Actual travel track determines the performance of the unmanned testing algorithm.
Specifically, the unmanned testing algorithm includes decision making algorithm, planning algorithm and control algolithm, decision making algorithm root
Judge vehicle drive behavior according to obstacle information, traffic marking board information and the lane line information in emulation data；
Planning algorithm carries out vehicle running path planning according to driving behavior；
Control algolithm is planned according to vehicle running path, the location information and course information of this car, determines that vehicle travels institute
The controlled quentity controlled variable needed, vehicle motion simulator is inputted by the controlled quentity controlled variable；
Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, using the vehicle
Actual travel track determines the performance of decision making algorithm, planning algorithm and control algolithm.
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.Specifically
Ground, the present embodiment implement the test to decision-making/planning/control algolithm.
Embodiment seven
A kind of automatic driving vehicle simulating test device that another alternative embodiment of the present invention provides, including：
Simulating scenes establish module, are used for：Simulating scenes are established, generate the emulation data of simulating scenes；
Computing module is tested, is used for：The unmanned testing algorithm includes perception algorithm or location algorithm, obtains basis
The sensor raw data that the emulation data are produced；
The sensing results after the perception algorithm handles the sensor raw data are obtained, or described in acquisition
Location algorithm the sensor raw data is handled after positioning result；
By the sensing results compared with the emulation data, the property of the perception algorithm is determined according to comparative result
Can, or by the positioning result compared with the emulation data, the property of the location algorithm is determined according to comparative result
Energy.
Specifically, at least one controlled quentity controlled variable is inputted to vehicle motion simulator so that vehicle motion simulator simulating vehicle
At least one driving states；
Obtain under the driving states, the sensor raw data produced according to the emulation data；
The sensing results after the perception algorithm handles the sensor raw data are obtained, or described in acquisition
Location algorithm the sensor raw data is handled after positioning result；
By the sensing results compared with the emulation data, the property of the perception algorithm is determined according to comparative result
Can, or by the positioning result compared with the emulation data, the property of the location algorithm is determined according to comparative result
Energy.
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.Specifically
Ground, the present embodiment implement the test to perception/location algorithm.
Embodiment eight
A kind of automatic driving vehicle simulating test device that yet another alternative embodiment of the present invention provides, including：
Simulating scenes establish module, are used for：Simulating scenes are established, generate the emulation data of simulating scenes；
Computing module is tested, is used for：The unmanned testing algorithm include decision making algorithm, planning algorithm, control algolithm,
Perception algorithm or location algorithm, obtain the sensor raw data produced according to the emulation data；
Obtain the sensing results after the unmanned testing algorithm handles the sensor raw data and determine
Position result；
The unmanned testing algorithm is obtained to the control after the sensing results and positioning result progress computing to vehicle
Amount processed, vehicle motion simulator is inputted by the controlled quentity controlled variable；
Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, using the vehicle
Actual travel track determines the performance of the unmanned testing algorithm.
The embodiment of the present invention obtains the operation result of unmanned testing algorithm with definite nothing by establishing simulating scenes
People drives the performance of testing algorithm.Realize the simulative automobile testing scheme tested complete automatic Pilot scheme.Specifically
Ground, the present embodiment are implemented to automatic Pilot closed loop test.
Ninth embodiment of the invention provides a kind of nonvolatile computer storage media, and the computer-readable storage medium is deposited
Computer executable instructions are contained, which can perform unmanned in above-mentioned any means embodiment
Vehicle simulation test method.
The electronics for being illustrated in figure 9 the execution automatic driving vehicle analog detection method of tenth embodiment of the invention offer is set
Standby hardware architecture diagram, it mainly includes：At least one processor 910；And with least one processor 910
The memory 920 of communication connection；Wherein, the memory 920 is stored with the instruction that can be performed by one processor, described
Instruction performed by least one processor 910 so that at least one processor be able to carry out as shown in Figure 1, Figure 2, Fig. 4 and
Method flow shown in Fig. 6, in Fig. 9 by taking a processor 910 as an example.
Performing the electronic equipment of automatic driving vehicle analog detection method can also include：Input unit 930 and output fill
Put 940.
Processor 910, memory 920, input unit 930 and display device 940 can pass through bus or other modes
Connect, in Fig. 9 exemplified by being connected by bus.
Memory 920 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey
Sequence, non-volatile computer executable program and module, such as the automatic driving vehicle simulation test side in the embodiment of the present application
Corresponding programmed instruction/the module of method, for example, the method flow shown in Fig. 1, Fig. 2, Fig. 4 and Fig. 6, or the emulation shown in attached drawing 8
Scene establishes module 801 and test computing module 802.Processor 910 is stored in non-volatile in memory 920 by operation
Software program, instruction and module, so as to perform various functions application and data processing, that is, realize the nothing in above-described embodiment
People drives vehicle simulation test method.
Memory 920 can include storing program area and storage data field, wherein, storing program area can store operation system
System, the required application program of at least one function；Storage data field can be stored according to automatic driving vehicle simulating test device
Use created data etc..In addition, memory 920 can include high-speed random access memory, can also include non-easy
The property lost memory, a for example, at least disk memory, flush memory device or other non-volatile solid state memory parts.One
In a little embodiments, memory 920 is optional including relative to the remotely located memory of processor 910, these remote memories can
To pass through network connection to the device for performing automatic driving vehicle analog detection method.The example of above-mentioned network includes but not limited to
Internet, intranet, LAN, mobile radio communication and combinations thereof.
The user that input unit 930 can receive input clicks on, and produces and automatic driving vehicle simulating test device
User setting and function control it is related signal input.Display device 940 may include the display devices such as display screen.
It is stored in one or more of modules in the memory 920, when by one or more of processing
When device 910 is run, the automatic driving vehicle analog detection method in above-mentioned any means embodiment is performed.
The said goods can perform the method that the embodiment of the present application is provided, and possesses the corresponding function module of execution method and has
Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, includes but not limited to:
(1) electronic control unit (Electronic Control Unit, ECU) is also known as " car running computer ", " vehicle-mounted computer "
Deng.Mainly by microprocessor (CPU), memory (ROM, RAM), input/output interface (I/O), analog-digital converter (A/D) and
The large scale integrated circuits such as shaping, driving form.
(2) mobile communication equipment:The characteristics of this kind equipment is that possess mobile communication function, and to provide speech, data
Communicate as main target.This Terminal Type includes:Smart mobile phone (such as iPhone), multimedia handset, feature mobile phone, and it is low
Hold mobile phone etc..
(3) super mobile personal computer equipment:This kind equipment belongs to the category of personal computer, there is calculating and processing work(
Can, generally also possess mobile Internet access characteristic.This Terminal Type includes:PDA, MID and UMPC equipment etc., such as iPad.
(4) portable entertainment device:This kind equipment can show and play content of multimedia.The kind equipment includes:Audio,
Video player (such as iPod), handheld device, e-book, and intelligent toy and portable car-mounted navigation equipment.
(5) server:The equipment for providing the service of calculating, the composition of server are total including processor, hard disk, memory, system
Line etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, in processing energy
Power, stability, reliability, security, scalability, manageability etc. are more demanding.
(6) other have the function of the electronic device of data interaction.
In addition, the logical order in above-mentioned memory 920 can be realized and be used as by the form of SFU software functional unit
Independent production marketing in use, can be stored in a computer read/write memory medium.Based on such understanding, sheet
The part or the part of the technical solution that the technical solution of invention substantially in other words contributes the prior art can be with
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that a mobile terminal (can be personal computer, server, or network equipment etc.) performs each embodiment of the present invention
The all or part of step of the method.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. it is various
Can be with the medium of store program codes.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, physics list is may or may not be as the component that unit is shown
Member, you can with positioned at a place, or can also be distributed in multiple network unit.It can be selected according to the actual needs
In some or all of module realize the purpose of the embodiment of the present invention.Those of ordinary skill in the art are not paying wound
In the case of the work for the property made, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
The part that technical solution substantially in other words contributes to the prior art is stated to embody in the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Order is used so that a computer equipment (can be personal computer, server, or network equipment etc.) performs each implementation
Method described in some parts of example or embodiment.
Finally it should be noted that：Above example is only to illustrate the technical solution of the embodiment of the present invention, rather than it is limited
System；Although the embodiment of the present invention is described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should
Understand：It can still modify the technical solution described in foregoing embodiments, or to which part technical characteristic
Carry out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention skill
The spirit and scope of art scheme.
Claims (6)
- A kind of 1. automatic driving vehicle analog detection method, it is characterised in that including：Simulating scenes are established, generate the emulation data of simulating scenes；Obtain unmanned testing algorithm and the operation result after computing is carried out to the emulation data, it is true according to the operation result The performance of fixed unmanned testing algorithm.
- 2. automatic driving vehicle analog detection method according to claim 1, it is characterised in that the acquisition is unmanned Testing algorithm carries out the operation result after computing to the emulation data, determines that unmanned test is calculated according to the operation result The performance of method, specifically includes：Unmanned testing algorithm is obtained to carry out the emulation data after computing to the controlled quentity controlled variable of vehicle, the controlled quentity controlled variable is defeated Enter vehicle motion simulator；Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, it is actual using the vehicle Driving trace determines the performance of the unmanned testing algorithm.
- 3. automatic driving vehicle analog detection method according to claim 2, it is characterised in that the unmanned test Algorithm includes decision making algorithm, planning algorithm and control algolithm, it is described obtain unmanned testing algorithm to the emulation data into Operation result after row computing, the performance of unmanned testing algorithm is determined according to the operation result, is specifically included：Obstacle information, traffic marking board information and lane line information of the decision making algorithm in emulation data judge vehicle drive Behavior；Planning algorithm carries out vehicle running path planning according to driving behavior；Control algolithm is planned according to vehicle running path, the location information and course information of this car, is determined needed for vehicle traveling Controlled quentity controlled variable, vehicle motion simulator is inputted by the controlled quentity controlled variable；Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, it is actual using the vehicle Driving trace determines the performance of decision making algorithm, planning algorithm and control algolithm.
- 4. automatic driving vehicle analog detection method according to claim 1, it is characterised in that the unmanned test Algorithm includes perception algorithm or location algorithm, after the unmanned testing algorithm of acquisition carries out computing to the emulation data Operation result, the performance of unmanned testing algorithm is determined according to the operation result, is specifically included：Obtain the sensor raw data produced according to the emulation data；The sensing results after the perception algorithm handles the sensor raw data are obtained, or obtain the positioning Algorithm the sensor raw data is handled after positioning result；By the sensing results compared with the emulation data, the performance of the perception algorithm is determined according to comparative result, Or by the positioning result compared with the emulation data, the performance of the location algorithm is determined according to comparative result.
- 5. automatic driving vehicle analog detection method according to claim 4, it is characterised in that the acquisition is unmanned Testing algorithm carries out the operation result after computing to the emulation data, determines that unmanned test is calculated according to the operation result The performance of method, specifically includes：At least one controlled quentity controlled variable is inputted to vehicle motion simulator so that at least one row of vehicle motion simulator simulating vehicle Car state；Obtain under the driving states, the sensor raw data produced according to the emulation data；The sensing results after the perception algorithm handles the sensor raw data are obtained, or obtain the positioning Algorithm the sensor raw data is handled after positioning result；By the sensing results compared with the emulation data, the performance of the perception algorithm is determined according to comparative result, Or by the positioning result compared with the emulation data, the performance of the location algorithm is determined according to comparative result.
- 6. automatic driving vehicle analog detection method according to claim 1, it is characterised in that the unmanned test Algorithm includes decision making algorithm, planning algorithm, control algolithm, perception algorithm or location algorithm, described to obtain unmanned test calculation Method carries out the operation result after computing to the emulation data, and the property of unmanned testing algorithm is determined according to the operation result Can, specifically include：Obtain the sensor raw data produced according to the emulation data；Obtain the sensing results after the unmanned testing algorithm handles the sensor raw data and positioning is tied Fruit；The unmanned testing algorithm is obtained to carry out the sensing results and positioning result after computing to the controlled quentity controlled variable of vehicle, The controlled quentity controlled variable is inputted into vehicle motion simulator；Vehicle motion simulator vehicle actual travel track according to caused by the controlled quentity controlled variable is obtained, it is actual using the vehicle Driving trace determines the performance of the unmanned testing algorithm.
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