CN114544196A - Unmanned equipment testing method, device, equipment and storage medium - Google Patents

Unmanned equipment testing method, device, equipment and storage medium Download PDF

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CN114544196A
CN114544196A CN202210145603.5A CN202210145603A CN114544196A CN 114544196 A CN114544196 A CN 114544196A CN 202210145603 A CN202210145603 A CN 202210145603A CN 114544196 A CN114544196 A CN 114544196A
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tested
target event
data
module
unmanned equipment
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陈雨
付浩生
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Beijing Sankuai Online Technology Co Ltd
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Beijing Sankuai Online Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles

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Abstract

The method determines the test data corresponding to the target event according to the actual driving data and the supplementary data according to the state of the sample unmanned equipment at the starting and stopping time of the specified time period, and controls the tested unmanned equipment to drive in the real environment according to the test data corresponding to the target event, thereby achieving the purpose of testing the tested unmanned equipment. The method comprises the steps of determining supplementary data based on actual driving data, determining test data according to the supplementary data, controlling the tested unmanned equipment to drive in a real environment according to the test data so as to test the unmanned performance of the tested unmanned equipment in the real environment, and improving the authenticity and reliability of a test result by adopting the real environment as a test scene and utilizing the actual tested unmanned equipment to carry out testing.

Description

Unmanned equipment testing method, device, equipment and storage medium
Technical Field
The present disclosure relates to the field of unmanned driving technologies, and in particular, to a method, an apparatus, a device, and a storage medium for testing an unmanned device.
Background
Unmanned equipment has been widely applied in many fields such as national defense, national economy and the like, and along with the continuous improvement of technological level, unmanned equipment is further developed, thereby bringing more convenience to the life of people. The unmanned equipment can sense the road environment through the sensor and process the sensed road environment information by adopting an unmanned driving algorithm, so that a route is automatically planned and a preset target is reached. In order to ensure the safety of the unmanned equipment in driving, a large number of tests are required to be carried out on the unmanned equipment so as to verify the safety of the unmanned technology based on the test results.
In the prior art, a mode of manually constructing a virtual simulation scene is generally adopted, and a simulation model of the unmanned device is used for simulation in the virtual scene so as to achieve the purpose of testing the unmanned technology.
However, because the actual scene is very complex, the situation of the real scene cannot be completely reflected by the artificially constructed virtual scene. Moreover, the simulation model of the unmanned equipment is too ideal to completely simulate the real performance of the unmanned equipment. Therefore, the simulation test using the simulated unmanned aerial vehicle model in the virtual scene may reduce the authenticity and reliability of the test result.
Disclosure of Invention
The present specification provides a method, an apparatus, a device and a storage medium for testing an unmanned aerial vehicle, so as to partially solve the above problems in the prior art.
The technical scheme adopted by the specification is as follows:
the present specification provides a test method of an unmanned device, including:
acquiring actual driving data of the sample unmanned equipment within a specified time period when the target event occurs, and taking the actual driving data as actual driving data corresponding to the target event;
determining the state of the sample unmanned equipment at the starting and stopping moments of the specified time period according to the actual driving data;
according to the state, determining supplementary data corresponding to the target event;
determining test data corresponding to the target event according to the actual driving data and the supplementary data;
and controlling the tested unmanned equipment to run in a real environment according to the test data corresponding to the target event so as to test the tested unmanned equipment.
Optionally, the obtaining of actual driving data of the sample unmanned device within a specified time period of occurrence of the target event specifically includes:
determining a time period containing the starting and stopping time of the target event as a designated time period for the target event to occur;
and acquiring actual driving data of the sample unmanned equipment in the specified time period.
Optionally, determining the supplementary data corresponding to the target event specifically includes:
determining the state of the sample unmanned equipment at the starting moment of the designated time interval as a starting state, and determining first supplementary data corresponding to the target event in the time interval from the preset designated state to the starting state of the tested unmanned equipment according to the starting state; and/or
And determining the state of the sample unmanned equipment at the termination time of the designated time period as a termination state, and determining second supplementary data corresponding to the target event in the time period from the termination state to a preset designated state of the tested unmanned equipment according to the termination state.
Optionally, when the supplementary data includes the first supplementary data, determining test data corresponding to the target event according to the actual driving data and the supplementary data, specifically including:
splicing the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event according to the sequence of the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event, and using the spliced first supplementary data and the actual driving data as test data corresponding to the target event;
and/or
When the supplementary data includes the second supplementary data, determining test data corresponding to the target event according to the actual driving data and the supplementary data, specifically including:
and splicing the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event according to the sequence of the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event to be used as the test data corresponding to the target event.
Optionally, determining test data corresponding to the target event according to the actual driving data and the supplementary data specifically includes:
if the state of the sample unmanned equipment at the starting and stopping time of the specified time interval is the same as the preset specified state, determining the actual driving data corresponding to the target event as the test data corresponding to the target event;
and if at least one of the states of the sample unmanned equipment at the starting time and the ending time of the specified time interval is different from the specified state, determining test data corresponding to the target event according to the actual driving data and the supplementary data.
Optionally, controlling the tested unmanned aerial vehicle to drive in the real environment according to the test data corresponding to the target event, specifically including:
acquiring test data corresponding to a plurality of target events;
determining the time of the same state as the target time according to the state of the start-stop time of the test data corresponding to each target event; splicing the test data corresponding to each target event containing the target time;
and controlling the tested unmanned equipment to run in the real environment according to the spliced test data.
Optionally, controlling the tested unmanned aerial vehicle to run in the real environment according to the spliced test data, specifically comprising:
replaying the spliced test data to obtain a result output by each module to be tested of the tested unmanned equipment according to the replayed test data; each module to be tested comprises at least one of a prediction module, a planning module and a control module;
and controlling the tested unmanned equipment to run in a real environment according to the result output by each module to be tested of the tested unmanned equipment.
Optionally, playing back the spliced test data to obtain a result output by each module to be tested of the tested unmanned aerial vehicle according to the played back test data, and specifically including:
taking the result output by the upstream module of the module to be tested of the tested unmanned equipment according to the played back test data as the specified data; changing a configuration file of a module to be tested of the tested unmanned equipment, wherein data input into the module to be tested and configured in the configuration file is changed into the designated data;
and playing back the spliced test data to obtain a result output by the module to be tested after the configuration file is changed according to the specified data.
Optionally, after the spliced test data is played back to obtain a result output by each module to be tested of the tested unmanned aerial vehicle according to the played back test data, the method further includes:
adjusting parameters of each module to be tested according to the output result of each module to be tested according to the played back test data;
and updating each module to be tested of the tested unmanned equipment into each module to be tested after parameter adjustment.
Optionally, controlling the measured unmanned device to drive in a real environment specifically includes:
when the spliced test data comprises first supplementary data, replaying the first supplementary data to obtain a first control quantity sequence output by a control module of the unmanned equipment according to the replayed first supplementary data;
controlling the tested unmanned equipment to be in the initial state from a preset specified state according to a first control quantity sequence output by a control module of the tested unmanned equipment;
when the spliced test data comprises second supplementary data, replaying the second supplementary data to obtain a second control quantity sequence output by the control module of the unmanned equipment according to the replayed second supplementary data;
controlling the tested unmanned equipment to be in a preset appointed state from the termination state according to a second control quantity sequence output by the control module of the tested unmanned equipment;
the state of the unmanned equipment to be tested comprises at least one of the position, the speed and the acceleration of the unmanned equipment to be tested at the moment of the state.
This specification provides a test apparatus for an unmanned aerial vehicle, including:
the acquisition module is used for acquiring actual driving data of the sample unmanned equipment within a specified time period when the target event occurs, and the actual driving data is used as actual driving data corresponding to the target event;
the state determining module is used for determining the state of the sample unmanned equipment at the starting and stopping moments of the specified time period according to the actual running data;
a supplementary data determining module, configured to determine, according to the state, supplementary data corresponding to the target event;
the test data determining module is used for determining test data corresponding to the target event according to the actual driving data and the supplementary data;
and the test module is used for controlling the tested unmanned equipment to run in a real environment according to the test data corresponding to the target event so as to test the tested unmanned equipment.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described method of testing an unmanned aerial device.
The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for testing the above-mentioned unmanned device when executing the program.
The technical scheme adopted by the specification can achieve the following beneficial effects:
according to the method, the complementary data corresponding to the target event is determined according to the state of the sample unmanned equipment at the starting and stopping time of the specified time interval, so that the test data corresponding to the target event is determined according to the actual driving data and the complementary data, and the tested unmanned equipment is controlled to drive in the real environment according to the test data corresponding to the target event, so that the purpose of testing the tested unmanned equipment is achieved. The method comprises the steps of determining supplementary data based on actual driving data, determining test data according to the supplementary data, controlling the tested unmanned equipment to drive in a real environment according to the test data so as to test the unmanned performance of the tested unmanned equipment in the real environment, and improving the authenticity and reliability of a test result by adopting the real environment as a test scene and utilizing the actual tested unmanned equipment for testing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic flow chart of an unmanned aerial vehicle testing method in the present specification;
FIG. 2 is a schematic diagram of a tested unmanned device under test in a real environment according to the present disclosure;
FIG. 3 is a schematic diagram of an unmanned equipment testing device provided herein;
fig. 4 is a schematic diagram of an electronic device corresponding to fig. 1 provided in the present specification.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
In addition, it should be noted that all the actions of acquiring signals, information or data in the present invention are performed under the premise of complying with the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
The unmanned equipment mainly depends on sensing environments such as assembled sensors and the like, processes sensed road environment information by adopting an unmanned algorithm, automatically plans a route and controls the unmanned equipment to reach a preset target. The unmanned equipment is a highly developed product integrating a plurality of technologies such as automatic control, visual calculation and the like, and has wide application prospects in a plurality of fields such as national defense, national economy and the like.
With the rapid development and continuous improvement of the unmanned technology, the testing of the unmanned ability of the unmanned equipment in a complex environment is an important task in the research and development process of the unmanned technology, and particularly, the unmanned equipment needs to cope with various events including dangerous accidents. Therefore, it is necessary to test the environment cognitive ability, the unmanned ability, and the adaptability to the road traffic environment when the unmanned device copes with various events.
At present, the test environment of the unmanned equipment is mainly divided into a real environment test and a simulation environment test. The test scene adopted in the simulation environment test is a virtual scene which is artificially constructed, and a simulation model of the unmanned equipment is used for simulation. The situation of a real scene cannot be completely reflected by a manually constructed virtual scene, and the simulation model of the unmanned equipment is too ideal and cannot completely simulate the real performance of the unmanned equipment, so that the authenticity and reliability of a test result of a simulation environment test are low, and the unmanned driving capability of the unmanned equipment in a real environment cannot be completely reflected.
Based on the above problems, embodiments of the present specification provide a testing method using an actual unmanned device to test in a real environment, and by using the real environment as a testing scenario and using the actual unmanned device to be tested to perform testing, authenticity and reliability of a testing result are improved.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of an unmanned aerial vehicle testing method in this specification, which specifically includes the following steps:
s100: acquiring actual driving data of the sample unmanned equipment within a specified time period when the target event occurs, and taking the actual driving data as actual driving data corresponding to the target event;
the unmanned equipment can be unmanned vehicles or unmanned equipment such as unmanned aerial vehicles. In general, data for testing the unmanned aerial vehicle can be derived from data collected when the unmanned aerial vehicle runs in a real environment, and can also be derived from data of the unmanned aerial vehicle simulator and simulation data. In the embodiment of the description, in order to achieve the purpose of improving the authenticity and reliability of the test result, a specific scheme is described by taking actual driving data acquired by driving of the unmanned equipment in a real environment as an example of the test data.
The unmanned device for collecting actual driving data is used as a sample unmanned device, and the unmanned device for testing the unmanned driving capability is used as a tested unmanned device. The sample drone needs to be equipped with the same sensors as the drone under test, such as: laser radar, image sensor, millimeter wave radar, Global Positioning System (GPS), Inertial Measurement Unit (IMU), and the like. The actual driving data acquired by the sample unmanned equipment when the sample unmanned equipment drives in the real environment can be applied to the test of the tested unmanned equipment. The real driving data may include environmental data sensed by a sensor, positioning data of the unmanned aerial vehicle, driving state data such as driving speed, driving acceleration, driving direction, and the like.
The unmanned equipment needs to deal with various types of events in a real environment, such as dangerous events like severe weather, traffic accidents and the like; boundary scene events such as temporary road construction and the like; avoiding obstacles, identifying traffic lights and other typical events, and the like. In order to ensure the driving safety of the unmanned equipment, the unmanned capacity of the unmanned equipment when the unmanned equipment is used for responding to various types of events needs to be tested, so that the actual driving data of the unmanned equipment when the target event occurs is taken as a source of the test data, and the unmanned capacity of the unmanned equipment when the unmanned equipment is used for responding to various types of target events can be tested. The target events comprise the dangerous events, boundary scene events and various types of typical events.
In practical applications, since the time period during which the sample unmanned aerial vehicle generates the target event may be extremely short, in order for the unmanned aerial vehicle under test to stably travel during the test, the time period including the start-stop time of the target event is generally used as the specified time period during which the target event occurs.
S102: determining the state of the sample unmanned equipment at the starting and stopping moments of the specified time period according to the actual driving data;
the state of the sample drone at the start-stop time of the specified time period may include at least one of a location, a travel speed, an acceleration of the sample drone at the start-stop time.
S104: according to the state, determining supplementary data corresponding to the target event;
in general, the unmanned ability of the unmanned equipment needs to be tested according to actual driving data corresponding to a target event. However, since the unmanned device under test needs to be tested in the real environment, and at least one of the states of the sample unmanned device at the starting time and the ending time of the specified time interval may be different from the state of the unmanned device under test that is tested in the real environment, that is, when the unmanned device under test performs the test according to the actual driving data corresponding to the target event, the unmanned device under test cannot smoothly enter the specified time interval and/or smoothly exit the specified time interval, it is necessary to determine the supplementary data corresponding to the target event according to the state of the sample unmanned device at the starting and ending time of the specified time interval to ensure that the unmanned device under test stably enters and exits the specified time interval when performing the test in the real environment.
S106: determining test data corresponding to the target event according to the actual driving data and the supplementary data;
specifically, the supplementary data corresponding to the target event is used for enabling the tested unmanned aerial vehicle to test smoothly in a real environment, and if the starting and ending time states of the specified time interval are the same as the preset specified states, it is indicated that the unmanned aerial vehicle can directly and smoothly start testing, that is, the test data corresponding to the target event can be determined according to the actual driving data.
Therefore, it is necessary to first determine a relationship between a state at a start-stop time of a specified time period and a preset specified state, and then determine test data corresponding to the target event according to a determination result, the actual driving data, and the supplemental data. The preset designated state may include a stop state where the speed and the acceleration are both zero, a constant-speed driving state where the acceleration is zero but the speed is not zero, and the like. The preset designated state can be set according to a specific application scene, and the specification is not limited.
S108: and controlling the tested unmanned equipment to run in a real environment according to the test data corresponding to the target event so as to test the tested unmanned equipment.
In the embodiment of the present specification, the real environment for performing the test may be a closed test site, or may be an actual open driving environment.
Specifically, the closed test site may be a test site with a closed site boundary, data of roads, intersections, traffic indication facilities and the like in a high-precision map adopted when the sample unmanned device runs in a real environment are mapped into the closed test site, and real data acquired when the sample unmanned device runs in the real environment is played back for the tested unmanned device, so that the tested unmanned device can test in the closed test site. The real data collected when the sample unmanned device runs in the real environment comprise data of dynamic obstacles and data of static obstacles sensed when the sample unmanned device runs in the real environment. The actual open driving environment may be a test site without a closed site boundary, and other traffic participants, such as motor vehicles, non-motor vehicles, pedestrians, etc., may be present in the open driving environment.
The type and setting mode of the real environment for testing are determined according to a specific application scenario, which is not limited in this specification.
The actual driving data is adopted to determine the test data, and the tested unmanned equipment is used for testing in a real environment, so that the problem that the simulation model is ideal and cannot completely simulate the real performance of the unmanned equipment is solved, the problem that a artificially constructed virtual scene cannot completely reflect a real scene is also solved, and the authenticity and reliability of the test result of the unmanned equipment are improved.
According to the method, the complementary data corresponding to the target event is determined according to the state of the sample unmanned equipment at the starting and stopping time of the specified time interval, so that the test data corresponding to the target event is determined according to the actual driving data and the complementary data, and the tested unmanned equipment is controlled to drive in the real environment according to the test data corresponding to the target event, so that the purpose of testing the tested unmanned equipment is achieved. The method comprises the steps of determining supplementary data based on actual driving data, determining test data according to the supplementary data, controlling the tested unmanned equipment to drive in a real environment according to the test data so as to test the unmanned performance of the tested unmanned equipment in the real environment, and improving the authenticity and reliability of a test result by adopting the real environment as a test scene and utilizing the actual tested unmanned equipment for testing.
In the embodiment of the specification, in order to enable the tested unmanned equipment to enter the specified time period from the preset specified state for testing stably and exit the test from the specified time period smoothly, a scheme of determining the supplementary data corresponding to the target event according to the state of the starting and ending moments of the specified time period is adopted. As shown in step S104 in fig. 1, the determining of the supplementary data corresponding to the target event is specifically implemented by the following steps:
first, the state of the sample unmanned device at the start time of the specified period is taken as a start state, and the state of the sample unmanned device at the end time of the specified period is taken as an end state.
Wherein the state of the sample unmanned device at the start-stop time of the specified period may include at least one of a location, a driving speed, and an acceleration of the sample unmanned device at the start-stop time.
Then, according to the initial state, determining first supplementary data corresponding to the target event in a time period from a preset specified state to the initial state of the tested unmanned equipment;
and/or determining second supplementary data corresponding to the target event in a period from the state of the tested unmanned equipment at the termination moment of the specified period to a preset specified state according to the termination state.
For example, as shown in fig. 2, the start time t of the sample unmanned device in the specified period is determined according to the actual traveling data of the sample unmanned device in the specified period1Velocity of time v1End time t2Velocity of time v2，v1And v2And are all not 0. When the preset specified state is set as the state that the tested unmanned equipment is stopped to run (the speed and the acceleration are both 0), the tested unmanned equipment A is set to be in t0Velocity of time v0，t3Velocity of time v3And v is0And v3And are all 0. At this time, the measured unmanned aerial vehicle a cannot directly follow the velocity v0Is abruptly changed to a velocity v1Is tested, and cannot be directly measured from the velocity v2Is abruptly changed to a velocity v3The state of (c) is thus exited from the test. Thus, according to t0State of time and t1The state of the moment determines the slave t of the tested unmanned equipment0To t1First supplementary data corresponding to the target event within a time period, and according to t2State of time and t3The state of the moment determines the slave t of the tested unmanned equipment2To t3And second supplementary data corresponding to the target event in the time period. L in FIG. 20For a first supplementary track determined from the first supplementary data, L2For a second supplementary track, L, determined from the second supplementary data1Is an actual travel track determined from the actual travel data. The slave speed of the tested unmanned equipment A is v0Is along L0Velocity of arrival v1Enters the test along L1After the test, the slave velocity is v2Is along L2Smooth transition to velocity v3The state of (c) is thus exited from the test.
In this embodiment of the present specification, as shown in step S106 in fig. 1, determining the test data corresponding to the target event is specifically implemented by the following scheme:
and judging whether the state of the sample unmanned equipment at the starting and ending time of the specified time interval is the same as a preset specified state or not.
And if the state of the sample unmanned equipment at the starting and ending time of the specified time interval is the same as the preset specified state, determining the actual driving data corresponding to the target event as the test data corresponding to the target event.
If at least one of the states of the sample unmanned device at the starting time and the ending time of the specified time interval is different from the specified state, the test data corresponding to the target event can be determined through the following three schemes:
the first scheme is as follows: when the supplementary data only comprise the first supplementary data, splicing the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event according to the sequence of the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event to be used as the test data corresponding to the target event.
The second scheme is as follows: when the supplementary data only comprises the second supplementary data, according to the sequence of the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event, splicing the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event to be used as the test data corresponding to the target event
In the third scheme: when the supplementary data comprises the first supplementary data and the second supplementary data, splicing the first supplementary data corresponding to the target event, the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event according to the sequence of the first supplementary data corresponding to the target event, the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event to be used as the test data corresponding to the target event.
In the embodiment of this specification, as shown in step S108 in fig. 1, controlling the tested unmanned aerial vehicle to travel in the real environment according to the test data corresponding to the target event specifically includes:
in practical application, when the unmanned device under test is tested in a real environment, the test data corresponding to the adopted target event may be test data corresponding to one target event, or test data corresponding to a plurality of target events.
Controlling the running condition of the tested unmanned equipment in the real environment according to the test data corresponding to one target event: the spliced test data can be played back to obtain the result output by each module to be tested of the tested unmanned equipment according to the played back test data, and the tested unmanned equipment is controlled to run in a real environment.
Controlling the running condition of the tested unmanned equipment in the real environment according to the test data corresponding to the target events: according to the state of the start-stop time of the test data corresponding to each target event, the time with the same state can be determined as the target time, and the test data corresponding to each target event containing the target time can be spliced. And returning the spliced test data to each module to be tested of the tested unmanned equipment to obtain an output result of each module to be tested of the tested unmanned equipment, and controlling the tested unmanned equipment to run in a real environment so as to achieve the purpose of continuously testing the tested unmanned equipment in the real environment.
In addition, it should be noted that each module under test of the unmanned device under test may include at least one of a prediction module, a planning module, and a control module. In general, the upstream module of the control module is a planning module, the upstream module of the planning module is a prediction module, and the upstream module of the prediction module may be an environmental data collection module.
In the embodiment of the specification, the prediction module is used for predicting the perceived movement locus of the obstacle through a prediction algorithm according to environment data, map data and the like acquired by a sensor; the planning module is used for planning the running track of the tested unmanned equipment through a planning algorithm according to the movement track of the obstacle predicted by the prediction module; and the control module is used for controlling the tested unmanned equipment to run in a real environment according to the running track of the tested unmanned equipment obtained by the planning module through a control algorithm. In actual testing, the number and the type of the modules to be tested are determined by actual testing requirements, which is not limited in this specification.
In an actual test, in a configuration file of each module to be tested of the unmanned device under test, configured data input into each module to be tested may be played back test data, or may be a result output by an upstream module of the module to be tested according to the played back test data.
For the case where the data input to the module under test is test data that is played back: the input data of the module to be tested is the actual driving data of the upstream module in the played back test data. And according to the actual running data of the upstream module, calculating through an algorithm corresponding to the module to be tested to obtain an output result for controlling the unmanned equipment to be tested.
For example, the module to be tested is only a control module, an upstream module thereof is a planning module, the control module obtains output results of the control module, such as an acceleration instruction, a brake instruction, a steering instruction and the like, through calculation according to actual driving data of the planning module in the played back test data, and controls the tested unmanned equipment to test in a real environment according to the output results.
For the case that the data input into the module to be tested is the result output by the upstream module of the module to be tested according to the played back test data: taking the output result of the upstream module of the module to be tested according to the played back test data as the designated data; and changing the configuration file of the module to be tested, wherein the data which is configured in the configuration file and is input into the module to be tested is changed into the specified data. And playing back the spliced test data to obtain a result output by the module to be tested after the configuration file is changed according to the specified data. And controlling the tested unmanned equipment to test according to the result output by the module to be tested.
For example, only the data input to the control module configured in the configuration file of the control module is changed to the result of the planning module predicting the actual travel data output of the module from the played back test data. And replaying the spliced test data, and sending specified data output by the planning module according to the replayed test data to the control module after the configuration file is changed, so that the control module after the configuration file is changed obtains an output result through calculation according to the received specified data output by the planning module, and further controls the tested unmanned equipment to test in a real environment.
It should be noted that, because the upstream module of the prediction module is the environmental data acquisition module, when the configured data input to the prediction module in the configuration file of the prediction module is the played-back test data, the data input to the prediction module is specifically the real data acquired when the sample unmanned device is running in the real environment.
In practical application, in order to ensure that the tested unmanned equipment enters and exits the test smoothly, the spliced test data can comprise supplementary data, and the purpose of controlling the unmanned equipment to enter and exit the test smoothly is achieved by replaying the supplementary data.
Specifically, when the spliced test data includes first supplementary data, the first supplementary data is played back to obtain a first control quantity sequence output by the control module of the unmanned equipment according to the played back first supplementary data; and controlling the tested unmanned equipment to be in the initial state from a preset specified state according to a first control quantity sequence output by the control module of the tested unmanned equipment.
When the spliced test data comprises second supplementary data, replaying the second supplementary data to obtain a second control quantity sequence output by the control module of the unmanned equipment according to the replayed second supplementary data; and controlling the tested unmanned equipment to be in a preset appointed state from the termination state according to a second control quantity sequence output by the control module of the tested unmanned equipment.
The state of the unmanned equipment to be tested comprises at least one of the position, the speed and the acceleration of the unmanned equipment to be tested at the moment of the state.
In another embodiment of the present specification, after the spliced test data is played back to obtain a result output by each module to be tested of the tested unmanned aerial vehicle according to the played back test data, a parameter of each module to be tested may be adjusted according to the result output by each module to be tested according to the played back test data, and each module to be tested of the tested unmanned aerial vehicle is updated to each module to be tested after the parameter adjustment.
Optionally, the parameters of each module to be tested are adjusted according to the output result of each module to be tested according to the played back test data, each module to be tested is updated according to the adjusted parameters, and then the test data is played back again, so that the module to be tested after the parameters are adjusted outputs the result again according to the played back test data, and the output result is known to meet the expected condition.
In another embodiment of the present disclosure, when the unmanned device under test is controlled to run in a real environment according to the output result of each module under test of the unmanned device under test, an abnormal condition in the test process needs to be detected.
Specifically, test driving data of the tested unmanned equipment in real environment can be obtained in real time, and whether the tested unmanned equipment normally drives in the real environment is determined according to the test driving data;
if the tested unmanned equipment runs abnormally in the real environment, controlling the tested unmanned equipment to stop testing and/or return to a safe environment; the abnormal driving of the test unmanned equipment in the real environment may include that when the test unmanned equipment performs a test according to test data corresponding to the target event, an output result of each module to be tested is not within a preset threshold range, the current position of the tested unmanned equipment cannot be tested, and the like.
For example, taking as an example that the output result of each module to be tested is not within the preset threshold range: and when the current unmanned device to be tested runs in a road section with the speed limit of 80Km/h, replaying the test data corresponding to the target event into the control module, and if the output result of the control module is that the unmanned device to be tested is controlled to accelerate to 85Km/h, judging that the output result of the control module is not in the preset threshold range, and at the moment, controlling the unmanned device to be tested to stop testing.
Taking the case that the current position of the tested unmanned equipment cannot be tested: the current position of the tested unmanned equipment may be an undrivable area, such as a road edge, a green belt and other areas in a real road, at this time, the tested unmanned equipment cannot be tested, and therefore the tested unmanned equipment needs to be controlled to firstly return to a safety test environment and then be tested.
In another embodiment of the present disclosure, when the unmanned device under test is controlled to run in a real environment according to the output result of each module under test of the unmanned device under test, the passing condition of the output result of each module under test is verified by using the verifier corresponding to each module under test, and the performance of the algorithm in each module under test is evaluated accordingly.
Specifically, a threshold range of the output result may be preset in the verifier corresponding to each module to be tested, and by comparing the output result of each module to be tested with the threshold range of the output result, when the output result of the module to be tested is within the threshold range, it is determined that the output result of the module to be tested passes.
The prediction verifier corresponding to the prediction module may include a trajectory prediction verifier, a lane selection verifier, and the like; the plan validator corresponding to the planning module may include a destination plan validator, a lane plan validator, etc.; the control validators corresponding to the control module may include a trajectory tracking validator, a velocity validator, and an acceleration validator.
For example, when the current unmanned device to be tested runs in a road section with the speed limit of 80Km/h, the test data corresponding to the target event is played back to the control module, the output result of the control module is to control the speed of the unmanned device to be tested to be 70Km/h, the output result of the control module is judged to be within the threshold range of the output result in the speed verifier corresponding to the control module, and therefore the output result of the control module is judged to be passed.
Based on the same idea, the present specification further provides a corresponding testing apparatus for an unmanned aerial vehicle, as shown in fig. 3.
Fig. 3 is a schematic diagram of a testing apparatus for an unmanned aerial vehicle provided in this specification, which specifically includes:
the acquiring module 200 is configured to acquire actual driving data of the sample unmanned device within a specified time period when the target event occurs, as actual driving data corresponding to the target event;
a state determining module 202, configured to determine, according to the actual driving data, a state of the sample unmanned device at a start-stop time of the specified time period;
a supplementary data determining module 204, configured to determine, according to the state, supplementary data corresponding to the target event;
a test data determining module 206, configured to determine, according to the actual driving data and the supplemental data, test data corresponding to the target event;
and the test module 208 is configured to control the tested unmanned aerial vehicle to run in a real environment according to the test data corresponding to the target event, so as to test the tested unmanned aerial vehicle.
Optionally, the obtaining module 200 is specifically configured to determine a time period including a start-stop time of the target event as a specified time period when the target event occurs; and acquiring actual driving data of the sample unmanned equipment in the specified time period.
Optionally, the supplementary data determining module 204 is specifically configured to determine a state of the sample unmanned device at the starting time of the specified time period, as a starting state, and determine, according to the starting state, first supplementary data corresponding to the target event in a time period from a preset specified state to the starting state of the tested unmanned device; and/or determining the state of the sample unmanned device at the termination time of the designated time period as a termination state, and determining second supplementary data corresponding to the target event in the time period from the state of the termination time of the designated time period to a preset designated state of the tested unmanned device according to the termination state.
Optionally, the supplemental data determining module 204 is specifically configured to, when the supplemental data includes the first supplemental data, splice the first supplemental data corresponding to the target event and the actual driving data corresponding to the target event according to an order of the first supplemental data corresponding to the target event and the actual driving data corresponding to the target event, and use the spliced first supplemental data and the actual driving data as test data corresponding to the target event; and when the supplementary data comprises the second supplementary data, splicing the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event according to the sequence of the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event to be used as the test data corresponding to the target event.
Optionally, the test data determining module 206 is specifically configured to determine, if the state of the sample unmanned device at the start-stop time of the specified time period is the same as a preset specified state, actual driving data corresponding to the target event as test data corresponding to the target event; and if at least one of the states of the sample unmanned equipment at the starting time and the ending time of the specified time interval is different from the specified state, determining test data corresponding to the target event according to the actual driving data and the supplementary data.
Optionally, the test module 208 is specifically configured to obtain test data corresponding to a plurality of target events; determining the time of the same state as the target time according to the state of the start-stop time of the test data corresponding to each target event; splicing the test data corresponding to each target event containing the target time; and controlling the tested unmanned equipment to run in the real environment according to the spliced test data.
Optionally, the test module 208 is specifically configured to playback the spliced test data, so as to obtain a result output by each module to be tested of the tested unmanned device according to the played back test data; each module to be tested comprises at least one of a prediction module, a planning module and a control module; and controlling the tested unmanned equipment to run in a real environment according to the output result of each module to be tested of the tested unmanned equipment.
Optionally, the test module 208 is specifically configured to use a result output by an upstream module of a module to be tested of the unmanned device under test according to the played back test data as the specified data; changing a configuration file of a module to be tested of the tested unmanned equipment, wherein data input into the module to be tested and configured in the configuration file is changed into the designated data; and playing back the spliced test data to obtain a result output by the module to be tested after the configuration file is changed according to the specified data.
Optionally, the test module 208 is further configured to, after the test module 208 plays back the spliced test data to obtain a result output by each module to be tested of the tested unmanned aerial vehicle according to the played back test data, adjust a parameter of each module to be tested according to the result output by each module to be tested according to the played back test data; and updating each module to be tested of the tested unmanned equipment into each module to be tested after parameter adjustment.
Optionally, the test module 208 is specifically configured to, when the spliced test data includes first supplemental data, play back the first supplemental data, so as to obtain a first control quantity sequence output by the control module of the unmanned device according to the played back first supplemental data; controlling the tested unmanned equipment to be in the initial state from a preset specified state according to a first control quantity sequence output by a control module of the tested unmanned equipment; when the spliced test data comprises second supplementary data, replaying the second supplementary data to obtain a second control quantity sequence output by the control module of the unmanned equipment according to the replayed second supplementary data; controlling the tested unmanned equipment to be in a preset appointed state from the termination state according to a second control quantity sequence output by the control module of the tested unmanned equipment; the state of the unmanned equipment to be tested comprises at least one of the position, the speed and the acceleration of the unmanned equipment to be tested at the moment of the state.
The present specification also provides a computer-readable storage medium having stored thereon a computer program operable to execute the method of testing an unmanned aerial device as provided in fig. 1 above.
This specification also provides a schematic block diagram of the electronic device shown in fig. 4. As shown in fig. 4, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required for other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to implement the method for testing the unmanned device described in fig. 1. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry for implementing the logical method flows can be readily obtained by a mere need to program the method flows with some of the hardware description languages described above and into an integrated circuit.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present invention.

Claims (13)

1. A method of testing an unmanned aerial device, comprising:
acquiring actual driving data of the sample unmanned equipment within a specified time period when the target event occurs, and taking the actual driving data as actual driving data corresponding to the target event;
determining the state of the sample unmanned equipment at the starting and stopping moments of the specified time period according to the actual driving data;
according to the state, determining supplementary data corresponding to the target event;
determining test data corresponding to the target event according to the actual driving data and the supplementary data;
and controlling the tested unmanned equipment to run in a real environment according to the test data corresponding to the target event so as to test the tested unmanned equipment.
2. The method of claim 1, wherein obtaining actual travel data for a sample drone for a specified period of time of occurrence of a target event comprises:
determining a time period containing the starting and stopping time of the target event as a designated time period for the target event to occur;
and acquiring actual driving data of the sample unmanned equipment in the specified time period.
3. The method of claim 1, wherein determining the supplemental data corresponding to the target event specifically comprises:
determining the state of the sample unmanned equipment at the starting moment of the designated time interval as a starting state, and determining first supplementary data corresponding to the target event in the time interval from the preset designated state to the starting state of the tested unmanned equipment according to the starting state; and/or
And determining the state of the sample unmanned equipment at the termination time of the designated time period as a termination state, and determining second supplementary data corresponding to the target event in the time period from the termination state to a preset designated state of the tested unmanned equipment according to the termination state.
4. The method according to claim 3, wherein when the supplementary data includes the first supplementary data, determining test data corresponding to the target event according to the actual driving data and the supplementary data specifically includes:
splicing the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event according to the sequence of the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event, and using the spliced first supplementary data and the actual driving data as test data corresponding to the target event;
and/or
When the supplementary data includes the second supplementary data, determining test data corresponding to the target event according to the actual driving data and the supplementary data, specifically including:
and splicing the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event according to the sequence of the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event to be used as the test data corresponding to the target event.
5. The method according to claim 1, wherein determining test data corresponding to the target event according to the actual driving data and the supplementary data specifically comprises:
if the state of the sample unmanned equipment at the starting and ending time of the specified time interval is the same as the preset specified state, determining the actual driving data corresponding to the target event as the test data corresponding to the target event;
and if at least one of the states of the sample unmanned equipment at the starting time and the ending time of the specified time interval is different from the specified state, determining test data corresponding to the target event according to the actual driving data and the supplementary data.
6. The method according to claim 1, wherein controlling the tested unmanned aerial vehicle to travel in the real environment according to the test data corresponding to the target event specifically comprises:
acquiring test data corresponding to a plurality of target events;
determining the time of the same state as the target time according to the state of the start-stop time of the test data corresponding to each target event; splicing the test data corresponding to each target event containing the target time;
and controlling the tested unmanned equipment to run in the real environment according to the spliced test data.
7. The method of claim 6, wherein controlling the tested unmanned aerial vehicle to travel in the real environment according to the spliced test data specifically comprises:
replaying the spliced test data to obtain a result output by each module to be tested of the tested unmanned equipment according to the replayed test data; each module to be tested comprises at least one of a prediction module, a planning module and a control module;
and controlling the tested unmanned equipment to run in a real environment according to the result output by each module to be tested of the tested unmanned equipment.
8. The method of claim 7, wherein playing back the spliced test data to obtain a result output by each module to be tested of the tested unmanned device according to the played back test data specifically comprises:
taking the result output by the upstream module of the module to be tested of the tested unmanned equipment according to the played back test data as the designated data; changing a configuration file of a module to be tested of the tested unmanned equipment, wherein data input into the module to be tested and configured in the configuration file is changed into the designated data;
and replaying the spliced test data to obtain a result output by the module to be tested after the configuration file is changed according to the specified data.
9. The method of claim 7, wherein after playing back the spliced test data to obtain a result output by each module under test of the unmanned device under test according to the played back test data, the method further comprises:
adjusting parameters of each module to be tested according to the output result of each module to be tested according to the played back test data;
and updating each module to be tested of the tested unmanned equipment into each module to be tested after parameter adjustment.
10. The method of claim 7, wherein controlling the unmanned device under test to travel in the real environment specifically comprises:
when the spliced test data comprises first supplementary data, replaying the first supplementary data to obtain a first control quantity sequence output by a control module of the unmanned equipment according to the replayed first supplementary data;
controlling the tested unmanned equipment to be in a preset appointed state to be in an initial state according to a first control quantity sequence output by a control module of the tested unmanned equipment;
when the spliced test data comprises second supplementary data, replaying the second supplementary data to obtain a second control quantity sequence output by the control module of the unmanned equipment according to the replayed second supplementary data;
controlling the tested unmanned equipment to be in a preset designated state from a termination state according to a second control quantity sequence output by the control module of the tested unmanned equipment;
the state of the detected unmanned equipment comprises at least one of the position, the speed and the acceleration of the detected unmanned equipment at the moment of the state.
11. An apparatus for testing an unmanned aerial device, comprising:
the acquisition module is used for acquiring actual driving data of the sample unmanned equipment within a specified time period when the target event occurs, and the actual driving data is used as actual driving data corresponding to the target event;
the state determining module is used for determining the state of the sample unmanned equipment at the starting and stopping moments of the specified time period according to the actual running data;
a supplementary data determining module, configured to determine, according to the state, supplementary data corresponding to the target event;
the test data determining module is used for determining test data corresponding to the target event according to the actual driving data and the supplementary data;
and the test module is used for controlling the tested unmanned equipment to run in a real environment according to the test data corresponding to the target event so as to test the tested unmanned equipment.
12. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 10.
13. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 10 when executing the program.
CN202210145603.5A 2022-02-17 2022-02-17 Unmanned equipment testing method, device, equipment and storage medium Pending CN114544196A (en)

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