CN113406962B

CN113406962B - Method and device for determining test information of automatic driving vehicle and electronic equipment

Info

Publication number: CN113406962B
Application number: CN202110958123.6A
Authority: CN
Inventors: 戴震; 倪凯
Original assignee: Heduoqianmo Technology Beijing Co ltd
Current assignee: Heduoqianmo Technology Beijing Co ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2021-11-19
Anticipated expiration: 2041-08-20
Also published as: CN113406962A

Abstract

The embodiment of the disclosure discloses an automatic driving vehicle test information determination method, an automatic driving vehicle test information determination device and electronic equipment. One embodiment of the method comprises: acquiring initial test action information and a target test action information sequence; determining an action execution cost information group corresponding to each piece of target test action information in the target test action information sequence to obtain an action execution cost information group sequence; determining action execution identification information corresponding to the action execution cost information group to obtain an action execution identification information sequence; and screening out target test action information of which the corresponding action execution identification information meets the screening condition from the target test action information sequence as the test action information to be executed. This embodiment improves the efficiency and accuracy of determining the autonomous vehicle test information.

Description

Method and device for determining test information of automatic driving vehicle and electronic equipment

Technical Field

The embodiment of the disclosure relates to the technical field of computers, in particular to a method and a device for determining test information of an automatic driving vehicle and electronic equipment.

Background

With the development of the automated driving-related technology, the automated driving vehicle gradually walks into the public sight. Since the autonomous vehicle can be controlled without a person to perform autonomous driving. Therefore, in order to improve the safety of the autonomous vehicle in traveling, it is important to test the autonomous vehicle. At present, when an automatic driving vehicle test is carried out, the following modes are generally adopted: a plurality of autonomous vehicle test information for autonomous vehicle testing is generated manually.

However, when the above-described manner is adopted, there are often technical problems as follows:

when the automatic driving vehicle test is performed, test actions corresponding to a plurality of test information are often required to be performed to realize the test of the automatic driving vehicle, and when the test actions corresponding to the plurality of test information are not reasonably arranged, the test efficiency is low.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure propose an autonomous vehicle test information determination method, apparatus, and electronic device to solve one or more of the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a method of automated driving vehicle test information determination, the method comprising: acquiring initial test action information and a target test action information sequence; according to the initial test action information, determining an action execution cost information group corresponding to each target test action information in the target test action information sequence to obtain an action execution cost information group sequence, wherein the action cost information group in the action execution cost information group sequence comprises: motion execution time cost information; determining action execution identification information corresponding to each action execution cost information group according to action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and action execution cost information except the action execution time cost information in the action execution cost information group, so as to obtain an action execution identification information sequence; and screening out target test action information of which the corresponding action execution identification information meets the screening condition from the target test action information sequence, and taking the target test action information as the test action information to be executed.

In a second aspect, some embodiments of the present disclosure provide an autonomous vehicle test information determination apparatus, the apparatus comprising: an acquisition unit configured to acquire initial test action information and a target test action information sequence; a first determining unit, configured to determine, according to the initial test action information, an action execution cost information group corresponding to each target test action information in the target test action information sequence, to obtain an action execution cost information group sequence, where the action cost information groups in the action execution cost information group sequence include: motion execution time cost information; a second determining unit, configured to determine, according to action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and action execution cost information excluding the action execution time cost information in the action execution cost information group, action execution identification information corresponding to the action execution cost information group, to obtain an action execution identification information sequence; and the screening unit is configured to screen out target test action information of which the corresponding action execution identification information meets the screening condition from the target test action information sequence as the to-be-executed test action information.

In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.

In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.

The above embodiments of the present disclosure have the following beneficial effects: by the aid of the method for determining the test information of the automatic driving vehicle, test efficiency of the automatic driving vehicle is improved. Specifically, the reasons for the inefficiency of testing autonomous vehicles are: often, when the automatic driving vehicle test is carried out, test actions corresponding to a plurality of test information need not be reasonably arranged. Based on this, the automated driving vehicle test information determination method of some embodiments of the present disclosure, first, obtains initial test action information and a target test action information sequence. In actual practice, when performing an autonomous vehicle test, it is often necessary to perform a test operation corresponding to a plurality of test information. By acquiring the initial test action information and the target test action information sequence, corresponding test information can be provided for the test of the automatic driving vehicle. Secondly, according to the initial test action information, determining an action execution cost information group corresponding to each target test action information in the target test action information sequence to obtain an action execution cost information group sequence, wherein the action cost information group in the action execution cost information group sequence comprises: action execution time cost information. In practical situations, a variety of test sequences are obtained by randomly selecting test information as initial test information from a plurality of pieces of test information for testing an autonomous vehicle. Especially when the test information is large, the amount of calculation for determining the test order increases. Therefore, by determining the initial test action information, the amount of calculation for determining the test order can be greatly reduced, and further, the time consumed for determining the test order can be reduced. Secondly, the importance degrees of different test information are different, and action execution cost information groups corresponding to the test action information are determined, so that the action execution cost corresponding to two adjacent test action information is quantized. Further, according to the action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and the action execution cost information excluding the action execution time cost information in the action execution cost information group, action execution identification information corresponding to the action execution cost information group is determined, and an action execution identification information sequence is obtained. In practice, when testing autonomous vehicles, it is often necessary to perform more test actions in as short a time as possible to improve test efficiency. In order to ensure the integrity and comprehensiveness of the test, the time consumed by the test action corresponding to the test information cannot be reduced, so that the conversion time between the test actions corresponding to every two test information is quantized, so that more test actions are executed in the shortest possible time, and the test efficiency is improved. And finally, screening out target test action information of which the corresponding action execution identification information meets the screening condition from the target test action information sequence, and taking the target test action information as the test action information to be executed. And screening test information with short conversion time among the test actions through the screening conditions, thereby realizing reasonable arrangement of the test actions corresponding to the plurality of test information. More test actions are guaranteed to be executed in the shortest time possible, and test efficiency is improved.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.

FIG. 1 is a schematic illustration of one application scenario of an autonomous vehicle test information determination method of some embodiments of the present disclosure;

FIG. 2 is a flow diagram of some embodiments of an autonomous vehicle test information determination method according to the present disclosure;

FIG. 3 is a flow chart of further embodiments of an autonomous vehicle test information determination method according to the present disclosure;

FIG. 4 is a schematic block diagram of some embodiments of an autonomous vehicle test information determination apparatus according to the present disclosure;

FIG. 5 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

FIG. 1 is a schematic diagram of one application scenario of an autonomous vehicle test information determination method of some embodiments of the present disclosure.

In the application scenario of fig. 1, first, the computing device 101 may obtain initial test action information 102 and a target test action information sequence 103. Next, the computing device 101 may determine, according to the initial test action information 102, an action execution cost information group corresponding to each piece of target test action information in the target test action information sequence 103, to obtain an action execution cost information group sequence 104. The action cost information group in the action execution cost information group sequence 104 includes: action execution time cost information. Next, the computing device 101 may determine, according to the action execution time cost information included in each action execution cost information group in the action execution cost information group sequence 104 and the action execution cost information excluding the action execution time cost information in the action execution cost information group, action execution identification information corresponding to the action execution cost information group, to obtain an action execution identification information sequence 105. Finally, the computing device 101 may screen out, from the target test action information sequence 103, target test action information whose corresponding action execution identification information satisfies the screening condition as the to-be-executed test action information 106.

The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster composed of multiple servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.

It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.

With continued reference to fig. 2, a flow 200 of some embodiments of an autonomous vehicle test information determination method according to the present disclosure is shown. The method for determining the test information of the automatic driving vehicle comprises the following steps:

step 201, obtaining initial test action information and target test action information sequence.

In some embodiments, an executing entity (e.g., the computing device 101 shown in fig. 1) of the automated vehicle test information determination method may obtain the initial test action information and the target test action information sequence by means of wired connection or wireless connection.

The initial test action information is generally information that needs to be included to perform the initial test action. The initial test operation may be an operation required to achieve, for example, an automatic parking function or an automatic driving function of the test target vehicle in the initial environment. The target vehicle may be a vehicle having an automatic driving function or an automatic parking function. The initial environment may be a desired environment for performing an initial test action. The target test action information in the target test action information sequence is generally information that needs to be included to perform the target test action. The target test operation may be an operation required to test, for example, an automatic parking function or an automatic driving function of the target vehicle in a target environment. The target environment may be a desired environment for performing the target test action.

Step 202, according to the initial test action information, determining an action execution cost information group corresponding to each target test action information in the target test action information sequence to obtain an action execution cost information group sequence.

In some embodiments, the execution main body may determine, according to the initial test action information, an action execution cost information group corresponding to each piece of target test action information in the target test action information sequence, to obtain the action execution cost information group sequence.

As an example, this step may comprise the following sub-steps:

the first substep is to determine the shortest distance between the road segment for executing the initial test action and the road segment for executing the target test action according to the initial test action key point information included in the initial test action information and the target test action key point information included in the target test action information sequence.

The execution subject may determine, according to initial test action key point information included in the initial test action information and target test action key point information included in target test action information in the target test action information sequence, a shortest distance between two points between the initial test action key point information and the target test action key point information by using a two-point distance formula, to obtain a shortest distance between a road segment on which an initial test action is executed and a road segment on which a target test action is executed. Wherein, the initial test action key point information included in the initial test action information includes at least three key point information. The at least three keypoint information may be used to characterize coordinates corresponding to the at least three keypoint. The at least three key points include a start point, an end point, and an approximate midpoint of the road segment where the initial test action is performed. The approximate midpoint is a point in the middle of the link where the initial test operation is performed, and is within the error tolerance. The target test action key point information included in the target test action information sequence includes at least three pieces of target key point information. The information of the at least three target key points can be used for representing the corresponding coordinates of the at least three target key points. The at least three target key points include a start point, an end point, and an approximate midpoint of a road segment where the target test action is performed. The approximate midpoint included in the at least three target key points is a point in the middle of the link where the target test action is performed, and is within an error tolerance. The coordinates corresponding to the at least three key points and the coordinates corresponding to the at least three target key points may be coordinates in a geographic coordinate system. The coordinates corresponding to the at least three key points and the coordinates corresponding to the at least three target key points may also be coordinates in a preset coordinate system. The preset coordinate system may be constructed as follows: the initial test operation key point information includes a start point of a link on which the initial test operation is to be executed, the start point being an origin, an axis perpendicular to the direction of the target vehicle when the target vehicle passes the start point being a horizontal axis, and an axis parallel to the direction of the target vehicle when the target vehicle passes the start point being a vertical axis.

For example, the initial test action key point information may be [ (0, 0), (0, 100), (0, 200)]. The target test action key point information may be [ (100 ), (100, 0), (100, -100)]. The execution body may determine that the distance between the coordinates (0, 0) and the coordinates (100 ) is

. The distance between the coordinates (0, 0) and the coordinates (100, 0) is 100. The distance between the coordinates (0, 0) and the coordinates (100, -100) is

. The distance between the coordinates (0, 100) and the coordinates (100 ) is 100. The distance between the coordinates (0, 100) and the coordinates (100, 0) is

. The distance between the coordinates (0, 100) and the coordinates (100, -100) is

. The distance between the coordinates (0, 200) and the coordinates (100 ) is

. The distance between the coordinates (0, 200) and the coordinates (100, 0) is

. The distance between the coordinates (0, 200) and the coordinates (100, -100) is

. The execution body can be based on

It is determined that the shortest distance between two points between the initial test action key point information and the target test action key point information may be 100, and the shortest distance between the link where the initial test action is performed and the link where the target test action is performed may be 100. And the coordinates corresponding to the initial test action key point information and the target test action key point information are coordinates in the preset coordinate system.

And a second substep of determining action execution geographic cost information included in the action execution cost information group corresponding to the target test action information according to the shortest distance and a pre-acquired average speed of the target vehicle passing through the shortest distance.

The action execution geographic cost information may represent a time cost consumed by the target vehicle to travel in the geographic dimension after the execution subject controls the target vehicle to execute the initial test action and before the execution subject controls the target vehicle to execute the target test action. The time cost may be measured in terms of elapsed time. The geographic dimension may represent a road segment from the target vehicle to a road segment on which the target test action is performed after the execution subject controls the target vehicle to perform the initial test action.

For example, the executing entity may determine, according to the shortest distance and a pre-obtained average speed of the target vehicle passing through the shortest distance, the action execution geographic cost information included in the action execution cost information group corresponding to the target test action information by using the following calculation formula of the action execution geographic cost information:

。

wherein,

the action execution geographic cost information included in the action execution cost information group corresponding to the target test action information.

The unit of (d) may be minutes.

Is the shortest distance described above.

Is the previously acquired average speed of the target vehicle passing through the shortest distance.

The time duration is preset to test whether the target vehicle, such as the automatic parking function or the automatic driving function, is qualified.

For another example, the executing entity may determine, according to the shortest distance and a pre-obtained average speed of the target vehicle passing through the shortest distance, the action execution geographic cost information included in the action execution cost information group corresponding to the target test action information by using the following calculation formula of the action execution geographic cost information:

。

wherein,

the action execution place included in the action execution cost information group corresponding to the target test action informationAnd (4) processing cost information.

The unit of (d) may be minutes.

Is the shortest distance described above.

Is a natural constant.

And a third substep of determining the action execution time cost information included in the action execution cost information group corresponding to the target test action information according to the initial test action ending time included in the initial test action information and the target test action starting time included in the target test action information sequence.

The action execution time cost information included in the action execution cost information group may represent a time cost consumed in a time dimension after the execution subject controls the target vehicle to execute the initial test action and before the execution subject controls the target vehicle to execute the target test action. The time cost may be measured in terms of elapsed time. The time dimension may represent a time difference between the execution subject controlling the target vehicle and a road segment where the target test action is executed after the execution subject controlling the target vehicle to execute the initial test action is completed. The initial test action end time included in the initial test action information may be a time at which the execution of the initial test action ends. The target test action start time included in the target test action information sequence may be a time at which the target test action is to be executed.

For example, the execution agent may determine, according to the initial test action end time and the target test action start time, action execution time cost information included in the action execution cost information group corresponding to the target test action information, by using the following calculation formula of the action execution time cost information:

。

wherein,

the target test action information is the action execution time cost information included in the action execution cost information group corresponding to the target test action information.

The unit of (d) may be minutes.

Is the initial test action end time described above.

Is the target test action start time described above.

For another example, the execution agent may determine, according to the initial test action end time and the target test action start time, action execution time cost information included in the action execution cost information group corresponding to the target test action information, by using the following calculation formula of the action execution time cost information:

。

wherein,

The unit of (d) may be minutes.

Is the initial test action end time described above.

Is the target test action start time described above.

Is a natural constant.

Step 203, determining the action execution identification information corresponding to the action execution cost information group according to the action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and the action execution cost information except the action execution time cost information in the action execution cost information group, so as to obtain an action execution identification information sequence.

In some embodiments, the execution main body may determine the action execution identifier information corresponding to each action execution cost information group according to the action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and the action execution cost information excluding the action execution time cost information in the action execution cost information group, so as to obtain the action execution identifier information sequence.

As an example, this step may comprise the following sub-steps:

a first substep of determining, according to the action execution time cost information included in the action execution cost information group and the action execution cost information excluding the action execution time cost information in the action execution cost information group, whether a target test action corresponding to the target test action information corresponding to the action execution cost information group can be executed or not by using the following ratio formula:

。

wherein,

The unit of (d) may be minutes.

The unit of (d) may be minutes.

The ratio of the geographic cost information of the action execution included in the action execution cost information group corresponding to the target test action information to the action execution time cost information included in the action execution cost information group corresponding to the target test action information. When in use

In this case, it may be characterized that the target test action corresponding to the target test action information corresponding to the action execution cost information group cannot be executed. When in use

In this case, it may be characterized that the target test action corresponding to the target test action information corresponding to the action execution cost information group can be executed.

And a second substep of determining the action execution identification information corresponding to the action execution cost information group according to the ratio.

The action execution identification information may be used to characterize a time cost between the execution of the initial test action and the execution of the target test action. The time cost may be measured in terms of elapsed time.

For example, the execution body may determine the action execution identifier information corresponding to the action execution cost information group according to a ratio value by the following formula:

。

wherein,

the action execution identification information corresponding to the action execution cost information group.

The unit of (d) may be minutes.

The unit of (d) may be minutes.

The ratio of the geographic cost information of the action execution included in the action execution cost information group corresponding to the target test action information to the action execution time cost information included in the action execution cost information group corresponding to the target test action information.

And 204, screening target test action information of which the corresponding action execution identification information meets the screening condition from the target test action information sequence, and taking the target test action information as the test action information to be executed.

In some embodiments, the execution main body may screen out, from the target test action information sequence, target test action information whose corresponding action execution identification information satisfies the screening condition as the test action information to be executed.

As an example, this step may comprise the following sub-steps:

the first substep, screen out the correspondent action from the above-mentioned goal tests the action information of testing the action that the identification information meets the condition of screening of action execution from the information sequence of action.

The screening condition may be that the action execution identification information corresponding to the target test action information is the minimum value of the action execution identification information corresponding to the target test action information in the target test action information sequence.

For example, the execution agent may input corresponding action execution identifier information in the target test action information sequence into an action execution identifier information array. The action execution identification information array may be a one-dimensional array. The above-mentioned action execution identification information array may be initially a null array. Then, the execution subject may determine the minimum action execution identification information corresponding to the target test action information sequence according to the bubble sort.

And a second substep of taking the target test action information in the target test action information sequence corresponding to the screened corresponding action execution identification information as the test action information to be executed in response to the fact that the corresponding minimum action execution identification information in the target test action information sequence is not infinite.

The information of the test action to be executed may be target test action information in the target test action information sequence corresponding to the test action to be executed. The test action to be executed may be a target test action to be executed after the execution of the initial test action is finished.

With further reference to FIG. 3, a flow 300 of further embodiments of an autonomous vehicle test information determination method is illustrated. The flow 300 of the method for determining test information for an autonomous vehicle includes the steps of:

step 301, obtaining initial test action information and target test action information sequence.

In some embodiments, the specific implementation manner and technical effects of step 301 may refer to step 201 in those embodiments corresponding to fig. 2, and are not described herein again.

Step 302, according to the initial test action information, determining an action execution cost information group corresponding to each target test action information in the target test action information sequence, and obtaining an action execution cost information group sequence.

In some embodiments, the execution main body may determine, according to the initial test action information, an action execution cost information group corresponding to each piece of target test action information in the target test action information sequence, to obtain the action execution cost information group sequence. Wherein, the action cost information group in the action execution cost information group sequence may further include: the action execution speed cost information, and the initial test action information may include: the initial test action ending speed value, and the target test action information in the target test action information sequence may include: target test action start speed value.

The action execution speed cost information may represent a time cost consumed in a speed dimension after the execution subject controls the target vehicle to execute the initial test action and before the execution subject controls the target vehicle to execute the target test action. The speed dimension may represent a speed value change of the target vehicle between a road segment where the target test action is executed and a road segment where the target test action is executed, after the execution subject controls the target vehicle to execute the initial test action. The time cost may be measured in terms of elapsed time.

The initial test motion end velocity value may be a velocity value of the target vehicle at the time of the end of the execution of the initial test motion. The target test action initial speed value may be a speed value of the target vehicle at the start of execution of the target test action.

Optionally, the action cost information group in the action execution cost information group sequence may further include: the controllable vehicle cost information, and the initial test action information may include: the first vehicle information, and the target test action information in the target test action information sequence may include: and second vehicle information.

The controllable vehicle cost information may represent a time cost consumed in a controllable traffic flow dimension after the execution subject controls the target vehicle to execute the initial test action and before the execution subject controls the target vehicle to execute the target test action. Wherein the time cost can be measured by the time duration of consumption. The controllable traffic flow dimension may represent a change in a state of a controllable vehicle and a position of the controllable vehicle caused by controlling the controllable vehicle to meet a requirement of second vehicle information included in the target test action information when the target test action is performed.

The first vehicle information may include an initial controllable vehicle number, an initial controllable vehicle state, and an initial controllable vehicle position. The initial controllable number of vehicles may be the number of controllable vehicles required to perform the initial test action. The initial controllable vehicle state may be a state of the controllable vehicle when the initial test action is performed. The controllable vehicle may be a vehicle that is controlled to simulate an actual driving environment. For example, the controllable vehicle may be a simulated moving vehicle around the target vehicle. The target vehicle may be a vehicle that performs the initial test action information and/or the test action to be performed for which the test action information corresponds to a test action. The initial controllable vehicle state may be any one of: acceleration, deceleration or uniform speed. The initial controllable vehicle position may be a position of the controllable vehicle when the initial test action is performed.

The second vehicle information includes a target controllable vehicle number, a target controllable vehicle state, and a target controllable vehicle position. The target controllable number of vehicles may be a number of controllable vehicles required to perform the target test action. The target controllable vehicle state may be a state of the controllable vehicle when the target test action is performed. The controllable vehicle may be a vehicle that is controlled to simulate an actual driving environment. For example, the controllable vehicle may be a simulated moving vehicle around the target vehicle. The target vehicle may be a vehicle that performs the initial test action information and/or the test action to be performed for which the test action information corresponds to a test action. The target controllable vehicle state may be any one of: acceleration, deceleration or uniform speed. The target controllable vehicle position may be a position of the controllable vehicle when the target test action is performed.

Optionally, the action cost information group in the action execution cost information group sequence may further include: the action execution hardware configuration cost information may include: the hardware information required by the initial test action, and the target test action information in the target test action information sequence may include: hardware information required for the target test action.

The action execution hardware configuration cost information may represent a time cost consumed in a hardware configuration dimension after the execution subject controls the target vehicle to execute the initial test action and before the execution subject controls the target vehicle to execute the target test action. Wherein the time cost can be measured by the time duration of consumption. The hardware configuration dimension may represent a difference in hardware configuration caused by a required hardware configuration when the target test action is performed.

The hardware information required for the initial test action may be information of hardware required to perform the initial test action. The hardware information required for the target test action included in the target test action information may be hardware information required for executing the target test action. The hardware information required for the initial test action may be hardware information of several millimeter wave radars and cameras. The hardware information required for the target test action may be hardware information of several millimeter wave radars and cameras.

As an example, this step may comprise the following sub-steps:

The specific implementation manner and the technical effects of the first to third substeps in step 302 may refer to the first to third substeps in step 202 in the embodiments corresponding to fig. 2, and are not described herein again.

And a fourth substep of generating action execution speed cost information in the action execution cost information group corresponding to the target test action information according to the initial test action ending speed value, the target test action starting speed value and the target weight value included in the target test action information.

The target weight value may be a weight value of a time period during which the change in the velocity value of the target vehicle is consumed.

For example, the executing entity may generate the action execution speed cost information in the action execution cost information group corresponding to the target test action information according to the initial test action ending speed value, the target test action starting speed value included in the target test action information, and the target weight value, by using the following formula:

。

wherein,

the target test action information is the action execution speed cost information included in the action execution cost information group corresponding to the target test action information.

The unit of (d) may be minutes.

The initial test motion end velocity value is described above.

The target test action initial velocity value included in the target test action information. 0.05 is the above target weight value.

And a fifth substep of determining controllable vehicle cost information in the action execution cost information group corresponding to the target test action information according to the first vehicle information and second vehicle information included in the target test action information.

For example, the executing entity may determine, according to the first vehicle information and the second vehicle information included in the target test action information, the controllable vehicle cost information in the action execution cost information group corresponding to the target test action information by using the following calculation formula of the controllable vehicle cost information:

。

wherein,

the controllable vehicle cost information included in the action execution cost information group corresponding to the target test action information.

The unit of (d) may be minutes.

Is the initial controllable number of vehicles mentioned above.

Is the above target controllable number of vehicles.

And a sixth substep of determining action execution hardware configuration cost information in the action execution cost information group corresponding to the target test action information according to the hardware information required by the initial test action and the hardware information required by the target test action included in the target test action information.

The hardware information required for the initial test action may be information included in the initial test action information.

For example, the executing entity may determine, according to the hardware information required for the initial test action and the hardware information required for the target test action included in the target test action information, action execution hardware configuration cost information in an action execution cost information group corresponding to the target test action information by using a calculation formula of the following action execution hardware configuration cost information:

。

wherein,

the action execution cost information is the action execution hardware configuration cost information included in the action execution cost information group corresponding to the target test action information.

The unit of (d) may be minutes.

A number that can be used to characterize the hardware information required for the target test action included in the target test action information.

A numerical number that may be used to characterize the hardware information required for the initial test action described above.

Step 303, generating, by using a target cost function, action execution identification information corresponding to the action execution cost information group according to the action execution time cost information included in the action execution cost information group and the action execution cost information excluding the action execution time cost information in the action execution cost information group.

In some embodiments, the execution main body may generate, according to the action execution time cost information included in the action execution cost information group and the action execution cost information excluding the action execution time cost information in the action execution cost information group, the action execution identification information corresponding to the action execution cost information group through a target cost function. The action execution identification information may be used to characterize a time cost between the execution of the initial test action and the execution of the target test action.

As an example, the execution main body may generate the action execution identification information corresponding to the action execution cost information group according to the action execution time cost information included in the action execution cost information group and the action execution cost information excluding the action execution time cost information in the action execution cost information group by using the following target cost function:

。

wherein,

The unit of (d) may be minutes.

The unit of (d) may be minutes.

The action executions corresponding to the target test action informationThe row cost information group includes action execution time cost information.

The unit of (d) may be minutes.

The unit of (d) may be minutes.

The unit of (d) may be minutes.

The unit of (d) may be minutes.

And 304, screening out target test action information of which the corresponding action execution identification information meets the screening condition from the target test action information sequence as the test action information to be executed.

In some embodiments, the specific implementation manner and technical effects of step 304 may refer to step 204 in those embodiments corresponding to fig. 2, and are not described herein again.

Step 305, generating a test information queue according to the initial test action information and the obtained test action information to be executed.

In some embodiments, the execution body may generate the test information queue according to the initial test action information and the obtained test action information to be executed. The obtained information of the test actions to be executed can represent a plurality of information of the test actions to be executed. The executing agent may repeat steps 302-304 to generate the obtained information of the test action to be executed.

As an example, a preset time period is obtained in advance for testing whether the target vehicle, such as the automatic parking function or the automatic driving function, is qualified

May be 3 hours. The initial test action information may include a time period for performing the initial test action of 5 minutes. The target test action information included in the target test action information sequence may be all 5 minutes long to perform the target test action. The action execution identifier information corresponding to the action execution cost information group corresponding to the target test action information in the target test action information sequence may be { [ number: 1, action execution identification information: 50 minutes]And [ number: action execution identification information: 60 minutes]And [ number: and 3, action execution identification information: 55 minutes]And [ number: 4, action execution identification information: 70 minutes]}. Wherein { [ number: 1, action execution identification information: 50 minutes]And [ number: action execution identification information: 60 minutes]And [ number: and 3, action execution identification information: 55 minutes]And [ number: 4, action execution identification information: 70 minutes]The action execution identification information corresponding to the target test action information which can be used for characterizing the number 1 is 50 minutes. The action execution identification information corresponding to the target test action information of number 2 is 60 minutes. The action execution identification information corresponding to the target test action information of number 3 is 55 minutes. The action execution identification information corresponding to the target test action information of number 4 is 70 minutes. The execution subject may determine that the corresponding minimum action execution identification information in the target test action information sequence is 50 minutes according to a bubble sort. The minimum action execution identification information corresponds to the target test action information sequenceAnd the target test action information with the middle number of 1. And accumulating the 5 minutes of the time for executing the initial test action, the 5 minutes of the time for executing the target test action and the corresponding minimum action execution identification information for 50 minutes to obtain an accumulated time length of 60 minutes. The 60 minutes is less than the preset time period of 3 hours. The target test action information numbered 1 corresponding to the minimum action execution identification information may be the test action information to be executed. The initial test action information and the target test action information with the number 1 are input into the test information queue. The target test operation information numbered 1 is set as new initial test operation information, and the information sequence excluding the target test operation information numbered 1 in the target test operation information sequence is set as a new target test operation information sequence. Repeating steps 302-304, the action execution identification information corresponding to the action execution cost information group corresponding to the target test action information in the new target test action information sequence may be { [ number: action execution identification information: 65 minutes]And [ number: and 3, action execution identification information: 60 minutes]And [ number: 4, action execution identification information: 75 minutes]}. Wherein { [ number: action execution identification information: 65 minutes]And [ number: and 3, action execution identification information: 60 minutes]And [ number: 4, action execution identification information: 75 minutes]The action execution identification information between the execution number 1 of the target test action corresponding to the target test action number 2 and the execution number 2 of the target test action may be used to characterize the target test action number 2 is 65 minutes. The action execution identification information corresponding to the target test action information numbered 3 from the target test action numbered 1 to the target test action numbered 3 is 60 minutes. The action execution identification information corresponding to the target test action information of the number 4 between the execution of the target test action of the number 1 and the target test action of the number 4 is 75 minutes. The execution subject may determine that the minimum action execution flag information corresponding to the new target test action information sequence is 60 minutes according to the bubble sort. The minimum operation execution identification information corresponds to the target test operation information numbered 3 in the target test operation information sequence. Corresponding number is 3The action execution identification information of (1) is accumulated for 60 minutes to the accumulation duration to obtain a new accumulation duration of 120 minutes. The 120 minutes is less than the preset time period of 3 hours. The corresponding target test action information numbered 3 may be test action information to be performed. The target test action information with the number 3 is input to the test information queue. The target test operation information with the number 3 is set as new initial test operation information. The information sequence excluding the target test operation information numbered 1 and the target test operation information numbered 3 in the target test operation information sequence is set as a new target test operation information sequence. Repeating steps 302-304, the action execution identification information corresponding to the action execution cost information group corresponding to the target test action information in the new target test action information sequence may be { [ number: action execution identification information: 66 minutes]And [ number: 4, action execution identification information: 70 minutes]}. Wherein { [ number: action execution identification information: 66 minutes]And [ number: 4, action execution identification information: 70 minutes]The action execution identification information between the execution number 3 of the target test action corresponding to the target test action number 2 and the execution number 2 of the target test action can be used for characterizing the target test action number 2 is 66 minutes. The action execution identification information between the target test action numbered 3 and the target test action numbered 4 corresponding to the target test action numbered 4 is 70 minutes. The execution subject may determine that the corresponding minimum action execution identification information in the new target test action information sequence is 66 minutes according to the bubble sort. The minimum operation execution identification information corresponds to the target test operation information numbered 2 in the target test operation information sequence. The corresponding action execution flag information numbered 2 for 66 minutes continues to be accumulated for a new accumulation duration 186 minutes. 186 minutes is greater than the preset duration of 3 hours. The final test information queue is obtained by the initial test action information, the target test action information with the number of 1 and the target test action information with the number of 3]。

And step 306, controlling the target vehicle, and executing the test action corresponding to each test information in the test information queue.

In some embodiments, the execution subject may control the target vehicle to execute a test action corresponding to each test message in the test message queue. The execution body may control the target vehicle to sequentially execute the test action corresponding to each test message in the test message queue.

As an example, the test information queue may include 3 pieces of test information. First, the execution subject may control the target vehicle, move to a road segment where the first test information in the test information queue is located, control the controllable vehicle, make the controllable vehicle conform to an initial controllable vehicle state, and move the controllable vehicle to an initial controllable vehicle position. Next, the execution body may control the target vehicle to execute a test operation corresponding to the first test information. Then, the execution subject may control the target vehicle, move to a road section where the second test information in the test information queue is located, control the controllable vehicle to conform to a controllable vehicle state included in the second test information, and move the controllable vehicle to a controllable vehicle position included in the second test information. Then, the execution subject may control the target vehicle to execute the test action corresponding to the second test information. Continuing, the execution subject may control the target vehicle, move to a road section where the third test information in the test information queue is located, control the controllable vehicle to conform to a controllable vehicle state included in the third test information, and move the controllable vehicle to a controllable vehicle position included in the third test information. Finally, the execution body may control the target vehicle to execute a test action corresponding to the third test information.

Step 307, generating a test result in response to determining that the execution of the test action corresponding to each test information in the test information queue is completed.

In some embodiments, the execution subject may generate the test result in response to determining that the execution of the test action corresponding to each test information in the test information queue is completed.

The test result may represent a result of completion of execution of the test action corresponding to each test information in the test information queue. For example, the test results may include: the test information queue comprises test time length of test action execution in the test action corresponding to each test information in the test information queue and total time length of test action execution completion in the test action corresponding to each test information.

As an example, the above test result may be [ test action a: 3 minutes, test action B: 3 minutes, total length of test completion: 3 hours ].

As can be seen in fig. 3, compared to the description of some embodiments corresponding to fig. 2, the present disclosure perfects the dimension between determining a test action corresponding to performing an initial test action to performing the next test action information of the initial test action information by adding a speed dimension, a controllable traffic flow dimension, and a hardware configuration dimension. Therefore, the accuracy of determining the conversion time cost between two adjacent test action information is improved, and the test efficiency of the generated test information queue during testing is improved.

With further reference to fig. 4, as an implementation of the methods illustrated in the above figures, the present disclosure provides some embodiments of an autonomous vehicle test information determination apparatus, which correspond to those method embodiments illustrated in fig. 2, and which may be particularly applicable in various electronic devices.

As shown in fig. 4, the autonomous vehicle test information determination apparatus 400 of some embodiments includes: an acquisition unit 401, a first determination unit 402, a second determination unit 403, and a filtering unit 404. Wherein, the obtaining unit 401 is configured to obtain initial test action information and a target test action information sequence; a first determining unit 402, configured to determine, according to the initial test action information, an action execution cost information group corresponding to each target test action information in the target test action information sequence, to obtain an action execution cost information group sequence, where the action cost information groups in the action execution cost information group sequence include: motion execution time cost information; a second determining unit 403, configured to determine, according to the action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and the action execution cost information excluding the action execution time cost information in the action execution cost information group, action execution identification information corresponding to the action execution cost information group, to obtain an action execution identification information sequence; a screening unit 404 configured to screen out target test action information, of which corresponding action execution identification information satisfies a screening condition, from the target test action information sequence as to-be-executed test action information.

It will be understood that the elements described in the apparatus 400 correspond to various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 400 and the units included therein, and will not be described herein again.

Referring now to FIG. 5, a block diagram of an electronic device (such as computing device 101 shown in FIG. 1) 500 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 5, electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

Generally, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage devices 508 including, for example, magnetic tape, hard disk, etc.; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 5 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 5 may represent one device or may represent multiple devices as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring initial test action information and a target test action information sequence; according to the initial test action information, determining an action execution cost information group corresponding to each target test action information in the target test action information sequence to obtain an action execution cost information group sequence, wherein the action cost information group in the action execution cost information group sequence comprises: motion execution time cost information; determining action execution identification information corresponding to each action execution cost information group according to action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and action execution cost information except the action execution time cost information in the action execution cost information group, so as to obtain an action execution identification information sequence; and screening out target test action information of which the corresponding action execution identification information meets the screening condition from the target test action information sequence, and taking the target test action information as the test action information to be executed.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes an acquisition unit, a first determination unit, a second determination unit, and a screening unit. Here, the names of these units do not constitute a limitation to the unit itself in some cases, and for example, the screening unit may also be described as "a unit that screens out, from the target test action information sequence, target test action information whose corresponding action execution identification information satisfies the screening condition as test action information to be executed".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. An autonomous vehicle test information determination method, comprising:

acquiring initial test action information and a target test action information sequence, wherein the initial test action information comprises: the method comprises the following steps that first vehicle information and hardware information required by an initial test action are obtained, and target test action information in a target test action information sequence comprises the following steps: second vehicle information and hardware information required by the target test action;

according to the initial test action information, determining an action execution cost information group corresponding to each target test action information in the target test action information sequence to obtain an action execution cost information group sequence, wherein the action cost information group in the action execution cost information group sequence comprises: action execution time cost information, controllable vehicle cost information and action execution hardware configuration cost information;

determining action execution identification information corresponding to each action execution cost information group according to action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and action execution cost information except the action execution time cost information in the action execution cost information group to obtain an action execution identification information sequence;

screening out target test action information of which corresponding action execution identification information meets screening conditions from the target test action information sequence as to-be-executed test action information, wherein an action execution cost information group corresponding to each target test action information in the target test action information sequence is determined according to the initial test action information to obtain an action execution cost information group sequence, and the method comprises the following steps:

according to the first vehicle information and second vehicle information included in the target test action information, determining controllable vehicle cost information in an action execution cost information group corresponding to the target test action information;

and determining action execution hardware configuration cost information in an action execution cost information group corresponding to the target test action information according to the hardware information required by the initial test action and the hardware information required by the target test action, which is included in the target test action information.

2. The method of claim 1, wherein the method further comprises:

generating a test information queue according to the initial test action information and the obtained test action information to be executed;

and controlling the target vehicle and executing the test action corresponding to each test information in the test information queue.

3. The method of claim 2, wherein the method further comprises:

and generating a test result in response to the fact that the execution of the test action corresponding to each test information in the test information queue is completed.

4. The method of claim 1, wherein the action cost information sets in the sequence of action performance cost information sets further comprises: motion execution speed cost information, the initial test motion information comprising: an initial test action ending speed value, wherein the target test action information in the target test action information sequence comprises: a target test action initial speed value; and

the determining, according to the initial test action information, an action execution cost information group corresponding to each target test action information in the target test action information sequence to obtain an action execution cost information group sequence includes:

and generating action execution speed cost information in an action execution cost information group corresponding to the target test action information according to the initial test action ending speed value, the target test action starting speed value and the target weight value which are included in the target test action information.

5. The method according to one of claims 1 to 4, wherein the determining, according to the action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and the action execution cost information excluding the action execution time cost information in the action execution cost information group, the action execution identification information corresponding to the action execution cost information group to obtain an action execution identification information sequence comprises:

and generating action execution identification information corresponding to the action execution cost information group through a target cost function according to the action execution time cost information included in the action execution cost information group and the action execution cost information except the action execution time cost information in the action execution cost information group.

6. An autonomous vehicle test information determination apparatus comprising:

an obtaining unit configured to obtain initial test action information and a target test action information sequence, wherein the initial test action information includes: the method comprises the following steps that first vehicle information and hardware information required by an initial test action are obtained, and target test action information in a target test action information sequence comprises the following steps: second vehicle information and hardware information required by the target test action;

a first determining unit, configured to determine, according to the initial test action information, an action execution cost information group corresponding to each target test action information in the target test action information sequence, to obtain an action execution cost information group sequence, where the action cost information groups in the action execution cost information group sequence include: action execution time cost information, controllable vehicle cost information and action execution hardware configuration cost information;

a second determining unit, configured to determine, according to action execution time cost information included in each action execution cost information group in the action execution cost information group sequence and action execution cost information excluding the action execution time cost information in the action execution cost information group, action execution identification information corresponding to the action execution cost information group, to obtain an action execution identification information sequence;

a screening unit configured to screen out, from the target test action information sequence, target test action information whose corresponding action execution identification information meets a screening condition as to-be-executed test action information, where the determining, according to the initial test action information, an action execution cost information group corresponding to each target test action information in the target test action information sequence to obtain an action execution cost information group sequence includes:

7. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.

8. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1 to 5.