CN110209146A - Test method, device, equipment and the readable storage medium storing program for executing of automatic driving vehicle - Google Patents
Test method, device, equipment and the readable storage medium storing program for executing of automatic driving vehicle Download PDFInfo
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- CN110209146A CN110209146A CN201910433322.8A CN201910433322A CN110209146A CN 110209146 A CN110209146 A CN 110209146A CN 201910433322 A CN201910433322 A CN 201910433322A CN 110209146 A CN110209146 A CN 110209146A
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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
- G05B17/00—Systems involving the use of models or simulators of said systems
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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
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Abstract
The disclosure provides test method, device, equipment and the readable storage medium storing program for executing of a kind of automatic driving vehicle, comprising: the first generation instruction generates automatic driving vehicle in simulated environment based on the received；Traffic environment is constructed in simulated environment according to the status information of pre-recorded virtual vehicle, so that automatic driving vehicle travels in traffic environment；According to the position acquisition environment sensing information of automatic driving vehicle in automatic driving vehicle driving process, and by the control system of environment sensing information input automatic driving vehicle, so that automatic driving vehicle is travelled according to environment sensing information.In the scheme that the disclosure provides, the control system of automatic driving vehicle can obtain the environment sensing information of surrounding, and determine driving strategy based on these information, and then control vehicle driving.Therefore, the scheme that the disclosure provides by travel situations of the vehicle in analogue system, can determine that can the control system of vehicle control safe driving of vehicle based on the environmental information of vehicle periphery.
Description
Technical field
This disclosure relates to automatic Pilot technology more particularly to a kind of test method of automatic driving vehicle, device, equipment and
Readable storage medium storing program for executing.
Background technique
Autonomous driving vehicle (Autonomous vehicles；Self-piloting automobile) it is also known as nobody and drives
Automobile, computer driving or wheeled mobile robot are sailed, is a kind of unpiloted intelligence vapour to be realized by computer system
Vehicle.Autonomous driving vehicle can perceive ambient enviroment, and planned and controlled automatically vehicle based on surrounding enviroment and route situation and existed
On road along fixed route travel or specified destination after automatic path planning travelled.
In order to guarantee that automatic driving vehicle can drive safely, the control software energy of access control vehicle automatic running is needed
Enough normal control automatic driving vehicles.Therefore, it is necessary to test it before automatic driving vehicle formally upper road.
In the prior art, the test mode of use be automatic driving vehicle is tested on real road, but this
There are certain risk for kind mode.It is safe in order to guarantee to test, it can only be tested in simple traffic environment, and it is practical
Load conditions are complicated, and therefore, test mode method in the prior art can not comprehensively test vehicle, lead to existing skill
There is inaccuracy in the test mode in art.
Summary of the invention
The disclosure provides test method, device, equipment and the readable storage medium storing program for executing of a kind of automatic driving vehicle, existing to solve
There is the test mode method in technology not test vehicle comprehensively, test mode in the prior art is caused to exist not
Accurate problem.
The first aspect of the disclosure is to provide a kind of test method of automatic driving vehicle, comprising:
The first generation instruction generates automatic driving vehicle in simulated environment based on the received；
Traffic environment is constructed in the simulated environment according to the status information of pre-recorded virtual vehicle, so that described
Automatic driving vehicle travels in the traffic environment；
Wherein, according to the position acquisition environment sense of the automatic driving vehicle in the automatic driving vehicle driving process
Information is known, and by the control system of automatic driving vehicle described in the environment sensing information input, so that the automatic Pilot vehicle
According to the environment sensing information travel.
Another aspect of the disclosure is to provide a kind of test device of automatic driving vehicle, comprising:
Generation module generates instruction for based on the received first and generates automatic driving vehicle in simulated environment；
Module is constructed, for constructing traffic in the simulated environment according to the status information of pre-recorded virtual vehicle
Environment, so that the automatic driving vehicle travels in the traffic environment；
Control module, for being obtained in the automatic driving vehicle driving process according to the position of the automatic driving vehicle
Take environment sensing information, and by the control system of automatic driving vehicle described in the environment sensing information input so that it is described from
The dynamic vehicle that drives is travelled according to the environment sensing information.
The another aspect of the disclosure is to provide a kind of test equipment of automatic driving vehicle, comprising:
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured to be executed by the processor to realize
The test method of automatic driving vehicle as described in above-mentioned first aspect.
The another aspect of the disclosure is to provide a kind of computer readable storage medium, is stored thereon with computer program,
The computer program is executed by processor the test method to realize the automatic driving vehicle as described in above-mentioned first aspect.
The technical effect of the test method of automatic driving vehicle, device, equipment and readable storage medium storing program for executing that the disclosure provides
It is:
Test method, device, equipment and the readable storage medium storing program for executing for the automatic driving vehicle that the disclosure provides, comprising: according to
Received first generates instruction generates automatic driving vehicle in simulated environment；Believed according to the state of pre-recorded virtual vehicle
Breath constructs traffic environment in simulated environment, so that automatic driving vehicle travels in traffic environment；Wherein, in automatic Pilot vehicle
According to the position acquisition environment sensing information of automatic driving vehicle in driving process, and environment sensing information input is driven automatically
The control system of vehicle is sailed, so that automatic driving vehicle is travelled according to environment sensing information.The method, apparatus of disclosure offer,
Equipment and readable storage medium storing program for executing can construct traffic environment, and enable the automatic driving vehicle generated in the traffic environment
Traveling, so as to construct different traffic environments according to demand, can enrich the environment of test.Meanwhile automatic Pilot vehicle
Control system can obtain the environment sensing information of surrounding, and determine driving strategy based on these information, and then control vehicle
Traveling.Therefore, the scheme that the disclosure provides can determine the control of vehicle by travel situations of the vehicle in analogue system
Can system control safe driving of vehicle based on the environmental information of vehicle periphery.
Detailed description of the invention
Fig. 1 is the flow chart of the test method of the automatic driving vehicle shown in an exemplary embodiment of the invention；
Fig. 2 is the flow chart of the test method of the automatic driving vehicle shown in another exemplary embodiment of the present invention；
Fig. 3 is the structure chart of the test device of the automatic driving vehicle shown in an exemplary embodiment of the invention；
Fig. 4 is the structure chart of the test device of the automatic driving vehicle shown in another exemplary embodiment of the present invention；
Fig. 5 is the structure chart of the test equipment of the automatic driving vehicle shown in an exemplary embodiment of the invention.
Specific embodiment
When testing the driving performance of automatic driving vehicle, directly vehicle can be made to travel on road, travelled
In the process, vehicle can perceive the environment of surrounding, and determine traveling strategy based on ambient enviroment.And it will not authenticated security performance
Automatic driving vehicle to be placed on traveling in complicated traffic environment caused in the prior art to automatic Pilot than relatively hazardous
It when vehicle testing, can only be tested, vehicle can not be tested in a variety of traffic environments in simple traffic environment.
In scheme provided in an embodiment of the present invention, traffic environment can be constructed in simulated environment, it can be by automatic Pilot
Vehicle is placed in pre-set traffic environment, to enable the control system of automatic driving vehicle based in simulated environment
Traffic environment determines traveling strategy.In simulated environment, different traffic environments can be set according to demand, so as to be directed to
The control system of different traffic environment test automatic driving vehicles, so that the scene of test is more abundant, test result is also more
It is comprehensive, accurate to add.
Fig. 1 is the flow chart of the test method of the automatic driving vehicle shown in an exemplary embodiment of the invention.
As shown in Figure 1, the test method of automatic driving vehicle provided in this embodiment includes:
Step 101, the first generation instruction generates automatic driving vehicle in simulated environment based on the received.
Method provided in this embodiment can be applied in analogue system, which can be used for automatic Pilot vehicle
Control system tested.Automatic driving vehicle can be specifically generated in analogue system, and makes it in the traffic of building
It is travelled in environment.
Optionally, it may include high-precision map in the simulated environment, such as traffic lights, building, lane can be set
Line etc..
Analogue system may include client, can also include the background system of the client, and the two can be set same
It in one electronic equipment, also can be set in different electronic equipments, if client and background system be not in the same electronics
In equipment, then the two can pass through network connection.
Wherein, user can operate in the client, input automatic driving vehicle information, such as vehicle location, vehicle
Original state etc..For example, user can input location information of the vehicle in simulated environment, input mode can there are many,
For example location information is directly inputted, position is clicked by mouse in simulated environment, position is clicked by finger in simulated environment
The modes such as set.
Specifically, should not have other vehicles at the position of automatic driving vehicle, and hence it is also possible to input to user
Location information judged, if the position has existed other vehicles in traffic environment, then can prompt the user position
It is illegal.
Further, user can also input other information, such as can also input the size of vehicle, such as length, height
Degree etc..
When practical application, this step can also both be executed by client executing by background system.
In one embodiment, client can according to user input information generate automatic driving vehicle, and according to
The content of user's input generates automatic driving vehicle.Simulated environment can also be shown in client end, and open up in simulated environment
Show the automatic driving vehicle of generation, user can be adjusted wherein.Client can also be by the automatic driving vehicle of generation
Information is sent to background system.
In another embodiment, the information of client available user input, and after sending such information to
Platform system generates automatic driving vehicle by background system in simulated environment.Background system can also be emulated to client feedback
Automatic driving vehicle in environment, so that user can in the client be adjusted automatic driving vehicle.
Step 102, traffic environment is constructed in simulated environment according to the status information of pre-recorded virtual vehicle, so that
Automatic driving vehicle travels in traffic environment.
In method provided in this embodiment, it can be used with the status information of pre-recorded virtual vehicle, these status informations
In the traffic environment of also reason virtual vehicle composition.User can operate in the client, call pre-recorded virtual
The status information of vehicle.
Optionally, it can store the status information of at least a set of virtual vehicle in analogue system.It can be in this set information
State including multiple vehicles whithin a period of time, such as position of the vehicle within ten minutes.When constructing traffic environment,
Vehicle can be restored according to the status information of virtual vehicle in the position at each moment, and then can simulate true traffic field
Scape.
Optionally, the status information of virtual vehicle can also be obtained by user setting.User can add in the client
Virtual vehicle, and the status information of virtual vehicle is set, for example, user can add a virtual vehicle, and input the control of vehicle
Information processed, for example pin the "upper" key on keyboard, then it represents that virtual vehicle speed-raising, if pinning the "lower" key on keyboard, then it represents that
Virtual vehicle is slowed down, and the driving status of vehicle within a certain period of time, client or background system can be arranged in this way
It can determine that virtual vehicle in the position at each moment, and then determines status information depending on the user's operation.User can be at it
The middle multiple virtual vehicles of addition, so as to constitute more complicated traffic environment according to the state of more virtual vehicles.
Wherein, the status information of virtual vehicle may include location information of the virtual vehicle in different moments, for example, state
Information can recorde 20 location informations of the virtual vehicle in every 1s.It can determine that each moment is every according to this information
The position of virtual vehicle, and dynamic traffic environment is restored by adjusting vehicle location.
Specifically, automatic driving vehicle can be placed in the traffic environment of building, can also be in simulated environment
Automatic driving vehicle specifies a target position, and automatic driving vehicle is travelled in the traffic environment of building.
The timing of step 101 and step 102 can be not limited.For example, user can first select in analogue system
The status information of a set of virtual vehicle constructs traffic environment, then generates an automatic driving vehicle wherein.User can also grasp
Make client, an automatic driving vehicle is generated in analogue system, the status information of a set of virtual vehicle of reselection constructs friendship
Logical environment.
Step 103, believed in automatic driving vehicle driving process according to the position acquisition environment sensing of automatic driving vehicle
Breath, and by the control system of environment sensing information input automatic driving vehicle, so that automatic driving vehicle is believed according to environment sensing
Breath traveling.
After generating automatic driving vehicle and having constructed traffic environment, automatic driving vehicle can be in current traffic environment
Middle traveling.It meanwhile including an at least virtual vehicle in traffic environment, and can be according to its corresponding state information updating void
The position of quasi- vehicle.
Further, automatic driving vehicle needs to determine traveling strategy by the ambient enviroment of perception, therefore, available
Environmental information around the automatic driving vehicle, such as distance, the orientation of vehicle distances automatic driving vehicle of surrounding etc..It can be with
The position for first determining automatic driving vehicle, further according to the environment sensing information under this position acquisition automatic driving vehicle visual angle.
When practical application, in the control system for the environment sensing information input automatic driving vehicle that can be will acquire, from
And the information such as travel speed, direction of vehicle are determined by this control system, and then control automatic driving vehicle traveling.
Wherein, analogue system can also examine the information such as the relative position between vehicle vehicle, and then determine whether there is vehicle
The problem of collision.It can also show that emulated interface, i.e. automatic driving vehicle travel in current traffic environment in the client
Dynamic menu, thus make user more intuitively determine automatic driving vehicle can drive safely.
Specifically, can directly be determined according to the status information of virtual vehicle, when obtaining environment sensing information to subtract
The data processing amount of few simulation process, improves simulation velocity.
For testing automatic driving vehicle, this method is mentioned method provided in this embodiment by being provided with the present embodiment
The equipment of the method for confession executes, which realizes usually in a manner of hardware and/or software.
The test method of automatic driving vehicle provided in this embodiment, comprising: first generate instruction imitative based on the received
Automatic driving vehicle is generated in true environment；Traffic is constructed in simulated environment according to the status information of pre-recorded virtual vehicle
Environment, so that automatic driving vehicle travels in traffic environment；Wherein, basis is driven automatically in automatic driving vehicle driving process
The position acquisition environment sensing information of vehicle is sailed, and by the control system of environment sensing information input automatic driving vehicle, so that
Automatic driving vehicle is travelled according to environment sensing information.Method provided in this embodiment can construct traffic environment, and to give birth to
At automatic driving vehicle can be travelled in the traffic environment, so as to construct different traffic environments, energy according to demand
The environment of enough abundant tests.Meanwhile the control system of automatic driving vehicle can obtain the environment sensing information of surrounding, and base
Driving strategy is determined in these information, and then controls vehicle driving.Therefore, scheme provided in this embodiment can be existed by vehicle
Travel situations in analogue system determine that can the control system of vehicle control vehicle safety based on the environmental information of vehicle periphery
It drives.
Fig. 2 is the flow chart of the test method of the automatic driving vehicle shown in another exemplary embodiment of the present invention.
As shown in Fig. 2, the test method of automatic driving vehicle provided in this embodiment, comprising:
Step 201, second instruction generation virtual vehicle is generated based on the received.
Method provided in this embodiment can also be operated the state so that analogue system record virtual vehicle by user
Information, and then when being emulated, these status informations can be directly acquired and construct traffic environment.So as to be multiplexed these
Status information, it is not necessary that in emulation, corresponding traffic environment is all arranged every time.
Wherein, user can input the information for generating virtual vehicle in the client, such as can be in simulated environment
Midpoint bit selecting is set, and expression generates a virtual vehicle in the position.
Specifically, method provided in this embodiment, it can be by client executing, it can also be by the background system of analogue system
It executes.
For example, user can select to generate the function of virtual vehicle in the client, client can be asked to analogue system
Simulated environment is sought, client can show simulated environment in interface, and user can be in simulated environment by way of clicking
Determine the initial position of virtual vehicle.Client can generate a virtual vehicle according to the position that user clicks in simulated environment
, the information of virtual vehicle can also be uploaded to background system by client.
For another example user can select to generate the function of virtual vehicle in the client, client can be to analogue system
Simulated environment is requested, client can show simulated environment in interface, and user can pass through the side clicked in simulated environment
Formula determines the initial position of virtual vehicle, this location information can be sent to background system by client, so that background system
Position generates a virtual vehicle in simulated environment based on the received, and is fed back to client, so that client is imitative
The virtual vehicle of generation is shown in true environment.
Step 202, control instruction determines the running condition information of virtual vehicle based on the received.
Further, after initialization of virtual vehicle, user can also operate virtual vehicle, allow to simulate true vehicle
Driving mode, such as refuel, brake, turn round situations such as.User can be with input control information, and then sends to analogue system
For controlling the control instruction of virtual vehicle.
When practical application, the control instruction that the available user of client submits, and virtual vehicle is determined based on control instruction
Driving status, client can also according to control instruction to background system send control signal, void is determined by control system
The driving status of quasi- vehicle.
Wherein, user can by operation keyboard on upper and lower, left and right key, be respectively used to control vehicle oiling,
It brakes, curved, curved operation of turning right of turning left.It can also be arranged in the client and refuel, brake, the curved, control such as curved of turning right of turning left
The control of function, user can send control instruction by operating these controls.
Specifically, vehicle can be determined in the status information at each moment according to the control instruction that user's operation generates.With
The operation of user, the information such as position, the speed of virtual vehicle can also generate variation, can recorde virtual vehicle in different moments
State.
Further, in order to construct more complicated traffic environment, more virtual vehicles can also be increased, meanwhile, it can be with
Determine the running condition information of each virtual vehicle.More virtual vehicles can have state letter corresponding with each moment
Breath.
When practical application, traffic environment can also be restored according to the running condition information of virtual vehicle, for example, according to row
It sails status information and determines multiple virtual vehicles in the position, the position at 1 moment, the position at 2 moment etc. at 0 moment, and according to these
Position adjusts the position of virtual vehicle, to restore traffic environment.
In existing virtual vehicle driving process, new virtual vehicle can also wherein be added, such as at the 20th
It carves, new virtual vehicle can be added in simulated environment, can also control the driving status for the virtual vehicle being newly added by user.
Analogue system can generate the running condition information of new virtual vehicle and the determining vehicle according to step 201,202.At this point,
Since virtual vehicle was added at the 20th moment, in the running condition information for the virtual vehicle being newly added, including it is virtual
Vehicle is in the 20th moment and later state.
Wherein, it (virtual vehicle including initial generation and is newly added in the driving status for determining virtual vehicle
Virtual vehicle), the control signal of virtual vehicle can be generated according to control instruction by client, then signal will be controlled by client
It is sent to background system, the state by background system prediction virtual vehicle at each moment, and then determine running condition information.
Optionally, vehicle power emulation module can be set in background system, virtual vehicle can be determined by the module
In the location information of different moments, the running condition information including location information may thereby determine that out.One friendship can also be set
Logical scene operation duration, such as ten minutes, and then can determine virtual vehicle corresponding location information in ten minutes durations.
In one embodiment, can by the running condition information of virtual vehicle whole, in another embodiment,
It can also be using the state of virtual vehicle in a period of time as running condition information.
Optionally, running condition information includes corresponding following at least one information of multiple moment:
Vehicle location, car speed, vehicle direction.
Optionally, generate virtual vehicle and control virtual vehicle in simulated environment when driving, can also determine void
Whether collision can be generated between quasi- vehicle, if colliding, user can be prompted, or think the relevant information of virtual vehicle
It is illegal, it is configured user to virtual vehicle again.
Step 203, recording instruction determines object time based on the received, and records the state that object time plays virtual vehicle
Information.
Wherein it is possible to show traffic scene in the client, can specifically be believed according to the driving status of each virtual vehicle
Breath generates dynamic menu, and in picture, the position of virtual vehicle changes as the time changes.User can be according to traffic environment
Time situation, select the status information initial time of virtual vehicle.For example, user can point when client is shown
The recording key in client is hit, and then client is made to start to record the status information of virtual vehicle.
Specifically, the status information recorded can only include the position of virtual vehicle, it also may include speed, the court of vehicle
To etc. information.For example, client can record traffic if user clicks recording key in the 10s that traffic scene is run
Scene is after 10s, wherein the location information of each virtual vehicle.
Further, user can also operate the key for stopping recording, so that client stops recording.
Step 204, the first generation instruction generates automatic driving vehicle in simulated environment based on the received.
Step 204 is similar with the concrete principle of step 101 and implementation, and details are not described herein again.
Optionally, according to actual needs, can be using stationary state as the original state of vehicle, it can also be with certain row
Sail original state of the speed as vehicle.
Wherein, after Simulation system of lunar rover generates an automatic driving vehicle, user can also operate in the client,
And then determine the original state of automatic driving vehicle.
Specifically, such as user can input the initial velocity of vehicle, driving direction in the client, thus to emulation
System sends initialization directive.Init state can be determined by client depending on the user's operation, can also be incited somebody to action by client
The content of user's input is sent to background system, determines init state by background system.
Further, when automatic driving vehicle in traffic environment when driving, can be controlled according to the original state automatic
Drive the state of vehicle.
Step 205, according to the status information of pre-recorded virtual vehicle, virtual vehicle is generated in simulated environment, and
Information adjusts the state of virtual vehicle in real time according to transport condition.
When practical application, user can choose the status information of a set of existing virtual vehicle, thus according to the choosing of user
It selects instruction and obtains the status information of the pre-recorded virtual vehicle of this set, and generate virtual vehicle in simulated environment.
Wherein, the status information that can store the virtual vehicle by user operation records in analogue system, can also deposit
Store up the status information of the virtual vehicle of default.User can select wherein, and determining a set of currently needs state to be applied
Information.
Specifically, can be according in status information, the initial position message of each virtual vehicle generates in simulated environment
Virtual vehicle.When including each moment in status information, the location information of each virtual vehicle, including carving vehicle at the beginning
Position therefore can first generate each virtual vehicle.
Optionally, if the virtual vehicle being added after including in status information, such as it is considered that timing in status information
Be since 0 moment,, can be with when constructing traffic environment if the initial vehicle of a virtual vehicle was added at the 10th moment
The virtual vehicle is generated at the 10th moment.
Further, further include the location information of vehicle under different moments in status information, therefore, can emulate
The position of virtual vehicle is adjusted in scene in real time, thus the dynamic process of simulating vehicle traveling.
Step 2061 can be executed after step 205, can also execute step 2062.
Step 2061, it according to the status information of pre-recorded virtual vehicle, the position of automatic driving vehicle, determines automatic
Drive the environment sensing information of vehicle.
When practical application, the control system of automatic driving vehicle is the traveling strategy made by ambient condition information.Cause
This, can known traffic environment determine the environment sensing information of automatic driving vehicle.
In one embodiment, due to the status information of virtual vehicle each in traffic environment be all it is known,
State according to known to these determines the environmental information on automatic driving vehicle periphery.In general, automatic driving vehicle energy
A certain range of vehicle around it is enough perceived, hence, it can be determined that the position of automatic driving vehicle, it can also be according to vehicle
Sensing range determines a regional scope, further according to the time of running of traffic environment in simulating scenes, in pre-recorded virtual vehicle
Status information in, obtain be located at regional scope in virtual vehicle state, and according to these vehicle-states determination drive automatically
Sail the environment sensing information of vehicle.
Specifically, the sensory perceptual system of automatic driving vehicle can also be obtained in advance, and then according to the virtual vehicle of vehicle periphery
State is determined for compliance with the environment sensing information of the sensory perceptual system.For example, can be worked as according to virtual vehicle and automatic driving vehicle
Preceding orientation, and the radar site being arranged in automatic driving vehicle, determine environment sensing information.
Step 2062, according to the environmental data on the position acquisition automatic driving vehicle periphery of automatic driving vehicle, by environment
Data input the sensory perceptual system of automatic driving vehicle, so that sensory perceptual system handles environmental data, obtain environment sensing letter
Breath.
In another embodiment, in order to avoid vehicle sensory perceptual system determine perception data and pass through virtual vehicle
The data that state speculates are inconsistent, and the sensory perceptual system of automatic driving vehicle can be arranged in analogue system.
Wherein, when generating automatic driving vehicle, it is also an option that the sensory perceptual system of vehicle, such as can be by inputting vehicle
Model determines sensory perceptual system, can also directly select a set of sensory perceptual system.It in this embodiment, can be according to virtual vehicle
Status information at per moment, the environmental data on automatic driving vehicle periphery is determined according to the position of automatic driving vehicle.Example
Such as, the virtual vehicle and its state at moment 1, in the sensing range of automatic driving vehicle can be determined, and based on these letters
It ceases and determines environmental data, such as the point of these virtual vehicles generation can be scanned with automatic driving vehicle visual angle in simulated environment
Cloud data.The sensory perceptual system that determining environmental data can be inputted to automatic driving vehicle, is calculated by sensory perceptual system, is obtained
The environment sensing information of automatic driving vehicle.
After step 2061 or step 2062, step 207 can be executed.
Step 207, by the control system of environment sensing information input automatic driving vehicle so that automatic driving vehicle according to
Environment sensing information traveling.
Step 207 is similar by the concrete principle of perception information input control system and implementation with step 103, herein
It repeats no more.
Fig. 3 is the structure chart of the test device of the automatic driving vehicle shown in an exemplary embodiment of the invention.
As shown in figure 3, the test device of automatic driving vehicle provided in this embodiment, comprising:
Generation module 31 generates instruction for based on the received first and generates automatic driving vehicle in simulated environment；
Module 32 is constructed, constructs friendship in the simulated environment for the status information according to pre-recorded virtual vehicle
Logical environment, so that the automatic driving vehicle travels in the traffic environment；
Control module 33, for the position acquisition in the automatic driving vehicle driving process according to automatic driving vehicle
Environment sensing information, and by the control system of automatic driving vehicle described in the environment sensing information input, so that described automatic
Vehicle is driven to be travelled according to the environment sensing information.
The test device of automatic driving vehicle provided in this embodiment, comprising: generation module, for based on the received first
It generates instruction and generates automatic driving vehicle in simulated environment；Module is constructed, for the shape according to pre-recorded virtual vehicle
State information constructs traffic environment in simulated environment, so that automatic driving vehicle travels in traffic environment；Control module is used for
According to the position acquisition environment sensing information of automatic driving vehicle in automatic driving vehicle driving process, and environment sensing is believed
The control system of breath input automatic driving vehicle, so that automatic driving vehicle is travelled according to environment sensing information.The present embodiment mentions
The device of confession can construct traffic environment, and the automatic driving vehicle generated is travelled in the traffic environment, thus
Different traffic environments can be constructed according to demand, can enrich the environment of test.Meanwhile the control system of automatic driving vehicle
System can obtain the environment sensing information of surrounding, and determine driving strategy based on these information, and then control vehicle driving.Cause
This, scheme provided in this embodiment can determine the control system energy of vehicle by travel situations of the vehicle in analogue system
The no environmental information based on vehicle periphery controls safe driving of vehicle.
The concrete principle and implementation of the test device of automatic driving vehicle provided in this embodiment with it is shown in FIG. 1
Embodiment is similar, and details are not described herein again.
Fig. 4 is the structure chart of the test device of the automatic driving vehicle shown in another exemplary embodiment of the present invention.
As shown in figure 4, on the basis of the above embodiments, the test device of automatic driving vehicle provided in this embodiment,
Optionally, described device further includes setup module 34, in the generation module 31, the first generation instruction to exist based on the received
In simulated environment before generation automatic driving vehicle:
Second generate instruction generation virtual vehicle based on the received；
Control instruction determines the running condition information of the virtual vehicle based on the received；
Recording instruction determines object time based on the received, and records the object time and play the described of the virtual vehicle
Status information.
Optionally, the setup module 34 includes predicting unit 341, is used for:
Control signal is generated according to the control instruction, according to the row of virtual vehicle described in the control signal estimation
Sail status information.
Optionally, the running condition information includes corresponding following at least one information of multiple moment:
Vehicle location, car speed, vehicle direction.
Optionally, the building module 32 is specifically used for:
According to the status information of the pre-recorded virtual vehicle, the virtual vehicle is generated in the simulated environment
, and the state of the virtual vehicle is adjusted according to the running condition information in real time.
Optionally, the control module 33, including first control unit 331, are used for:
According to the status information of the pre-recorded virtual vehicle, the position of automatic driving vehicle, determine described automatic
Drive the environment sensing information of vehicle.
Optionally, the control module 33, including the second control unit 332, are used for:
The environmental data on automatic driving vehicle periphery according to the position acquisition of automatic driving vehicle, by the environment number
It is obtained according to the sensory perceptual system for inputting the automatic driving vehicle so that the sensory perceptual system handles the environmental data
The environment sensing information.
Optionally, described device further includes initialization module 35, in the generation module 31 based on the received first
It generates and instructs in simulated environment after generation automatic driving vehicle:
Initialization directive determines the original state of the automatic driving vehicle based on the received, so that the automatic Pilot vehicle
It can be travelled in the traffic environment according to the original state.
The concrete principle and implementation of device provided in this embodiment are similar with embodiment shown in Fig. 2, herein not
It repeats again.
Fig. 5 is the structure chart of the test equipment of the automatic driving vehicle shown in an exemplary embodiment of the invention.
As shown in figure 5, the test equipment of automatic driving vehicle provided in this embodiment includes:
Memory 51；
Processor 52；And
Computer program；
Wherein, the computer program is stored in the memory 51, and be configured to by the processor 52 execute with
Realize the test method of any automatic driving vehicle as described above.
The present embodiment also provides a kind of computer readable storage medium, is stored thereon with computer program,
The computer program is executed by processor the test side to realize any automatic driving vehicle as described above
Method.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (11)
1. a kind of test method of automatic driving vehicle characterized by comprising
The first generation instruction generates automatic driving vehicle in simulated environment based on the received；
Traffic environment is constructed in the simulated environment according to the status information of pre-recorded virtual vehicle, so that described automatic
Vehicle is driven to travel in the traffic environment；
Wherein, believed in the automatic driving vehicle driving process according to the position acquisition environment sensing of the automatic driving vehicle
Breath, and by the control system of automatic driving vehicle described in the environment sensing information input, so that the automatic driving vehicle root
It is travelled according to the environment sensing information.
2. the method according to claim 1, wherein described first generate instruction in simulated environment based on the received
Before middle generation automatic driving vehicle, further includes:
Second generate instruction generation virtual vehicle based on the received；
Control instruction determines the running condition information of the virtual vehicle based on the received；
Recording instruction determines object time based on the received, and records the state that the object time plays the virtual vehicle
Information.
3. according to the method described in claim 2, it is characterized in that, the control instruction based on the received determines the virtual vehicle
Running condition information, comprising:
Control signal is generated according to the control instruction, according to the traveling shape of virtual vehicle described in the control signal estimation
State information.
4. method according to claim 1-3, which is characterized in that the running condition information includes multiple moment
Corresponding following at least one information:
Vehicle location, car speed, vehicle direction.
5. the method according to claim 1, wherein the status information according to pre-recorded virtual vehicle
Traffic environment is constructed in the simulated environment, comprising:
According to the status information of the pre-recorded virtual vehicle, the virtual vehicle is generated in the simulated environment, and
Adjust the state of the virtual vehicle in real time according to the running condition information.
6. the method according to claim 1, wherein the basis in the automatic driving vehicle driving process
The position acquisition environment sensing information of the automatic driving vehicle, comprising:
According to the status information of the pre-recorded virtual vehicle, the position of the automatic driving vehicle, determine described automatic
Drive the environment sensing information of vehicle.
7. the method according to claim 1, wherein described obtain in the automatic driving vehicle driving process
Environment sensing information, comprising:
According to the environmental data on automatic driving vehicle periphery described in the position acquisition of the automatic driving vehicle, by the environment number
It is obtained according to the sensory perceptual system for inputting the automatic driving vehicle so that the sensory perceptual system handles the environmental data
The environment sensing information.
8. the method according to claim 1, wherein described first generate instruction in simulated environment based on the received
After middle generation automatic driving vehicle, further includes:
Initialization directive determines the original state of the automatic driving vehicle based on the received, so that the automatic driving vehicle energy
It is enough to be travelled in the traffic environment according to the original state.
9. a kind of test device of automatic driving vehicle characterized by comprising
Generation module generates instruction for based on the received first and generates automatic driving vehicle in simulated environment；
Module is constructed, constructs traffic ring in the simulated environment for the status information according to pre-recorded virtual vehicle
Border, so that the automatic driving vehicle travels in the traffic environment；
Control module, for the position acquisition ring in the automatic driving vehicle driving process according to the automatic driving vehicle
Border perception information, and by the control system of automatic driving vehicle described in the environment sensing information input, so that described drive automatically
Vehicle is sailed to be travelled according to the environment sensing information.
10. a kind of test equipment of automatic driving vehicle characterized by comprising
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured to be executed by the processor to realize such as power
Benefit requires any method of 1-8.
11. a kind of computer readable storage medium, which is characterized in that it is stored thereon with computer program,
The computer program is executed by processor to realize the method as described in claim 1-8 is any.
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