CN114691492A - Automatic driving software evaluation system - Google Patents
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Abstract
An automatic driving software evaluation system is used for testing automatic driving software or modules and comprises an access server and a cluster computing platform; the system also comprises an access management unit, a code warehouse unit, a driving environment data unit and a test management unit; the driving environment data unit comprises driving environment data, and the driving environment data is obtained by 3D modeling of real vehicles after actual road collection; the tested automatic driving software or module is uploaded to the code warehouse unit through the network 1; the driving environment data is uploaded to a driving environment data unit through a network 1; the test management unit drives the code warehouse unit to distribute the test automatic driving software or modules to the cluster computing platform according to the test plan; the test management unit drives the driving environment data unit to distribute the driving environment data to the cluster computing platform according to the test plan; the automatic driving software or module virtually executes automatic driving operation according to the driving environment data and outputs the automatic driving control output data of the automobile.
Description
Technical Field
The application belongs to the technical field of automobile automatic driving, and particularly relates to an automatic driving software evaluation system.
Background
The automatic driving technology develops very fast, but still is the new life thing at present, and at the research and development process, the drive test environment is essential verification environment, and the drive test needs to spend huge financial resources, to the automatic driving vehicle and the software of new research and development, still has huge potential safety hazard, and the government has strict drive test license plate supervision simultaneously, can not carry out the drive test of actual environment at will, and this research and development to automatic driving vehicle and software brings huge difficulty.
Although there are virtual drive test software, the data source of the software is set by a program, and the difference from the actual road condition is very large.
Disclosure of Invention
The method utilizes the cluster computing platform to carry out 3D modeling on the actually acquired road data, decomposes the test task through the cluster computing platform, realizes the automobile drive test in a virtual computing environment, and greatly reduces the time and the cost required by the drive test.
An automatic driving software evaluation system is used for testing automatic driving software or modules and comprises an access server and a cluster computing platform; the system also comprises an access management unit, a code warehouse unit, a driving environment data unit and a test management unit; the access management unit, the code warehouse unit, the driving environment data unit and the test management unit are software or software modules running on the access server; the access server comprises a network interface 1 and a network interface 2; the access server is connected with a network 1 through a network interface 1, and is connected with a network 2 through a network interface 2; the cluster computing platform comprises more than 3 servers, and the servers of the cluster computing platform comprise a network interface 2; the server of the cluster computing platform is connected with the network 2 through a network interface 2; the driving environment data unit comprises driving environment data, and the driving environment data is obtained by 3D modeling after the real vehicle is collected on an actual road; the tested automatic driving software or module is uploaded to the code warehouse unit through the network 1; the driving environment data is uploaded to a driving environment data unit through a network 1; the test management unit drives the code warehouse unit to distribute the test automatic driving software or modules to the cluster computing platform according to the test plan; the test management unit drives the driving environment data unit to distribute the driving environment data to the cluster computing platform according to the test plan; the test management unit drives the cluster computing platform to run automatic driving software or modules; and the automatic driving software or module virtually executes automatic driving operation according to the driving environment data and outputs the automatic driving control output data of the automobile.
The system can also comprise a code warehouse server, a driving environment data server and a test management server; the code repository server comprises a network interface 2; the code warehouse server is connected with a network 2 through a network interface 2; the code repository unit running on a code repository server; the driving environment data server comprises a network interface 2; the driving environment data server is connected with the network 2 through a network interface 2; the driving environment data unit runs on a driving environment data server; the test management server comprises a network interface 2; the test management server is connected with the network 2 through a network interface 2; the test management unit runs on a test management server.
The driving environment data unit may include a driving environment data decomposition module; the driving environment data decomposition module decomposes driving environment data into a plurality of drive test sub-data files, and the test management unit drives the driving environment data according to the test plan to distribute the drive test sub-data files to the cluster computing platform.
The system can also comprise automobile automatic driving behavior analysis software, wherein the automobile automatic driving behavior analysis software runs on the computing nodes of the cluster computing platform; analyzing the output data of the automatic driving control of the automobile; analyzing and outputting an automatic driving software evaluation report, wherein the automatic driving software evaluation report comprises whether the automobile violates the traffic rules in the driving environment data; whether to collide with pedestrians, automobiles and road facilities in the driving environment data; and the distance between the running automobile and the pedestrian and the distance between the automobile and the road facility in the running environment data.
The system can also comprise automobile state management software or modules, wherein the automobile state management software or modules run on the computing nodes of the cluster computing platform; the automobile automatic driving behavior analysis software outputs the running parameters of the automobile to the automobile state management software or module, the running parameters of the automobile comprise the position and the attitude of the automobile at the current moment, and the automobile attitude adaptation module or software reads the running environment data according to the position, the attitude and the speed of the automobile at the current moment and provides the environment data for the automobile automatic driving software.
The automobile attitude adaptation module or software comprises an automobile attitude adaptation module, and the automobile attitude adaptation module is used for adapting the automobile attitude according to the position, the attitude and the speed of the automobile at the previous moment; and calculating the position, the posture and the speed of the current moment.
The vehicle attitude adaptation module or software may include an image data adaptation module, and the image data adaptation module calculates current image data of the vehicle camera according to the current position, the current attitude, and the installation position of the vehicle camera and the driving environment data.
The automobile attitude adaptation module or software comprises a laser radar adaptation module, and the laser radar adaptation module calculates laser point cloud data obtained by scanning of a laser radar according to the current position, the current attitude and the installation position of the laser radar and the driving environment data.
The automobile attitude adaptation module or software may include a millimeter wave radar adaptation module, and the millimeter wave radar adaptation module calculates laser point cloud data obtained by scanning of the millimeter wave radar according to the current position, attitude and installation position of the millimeter wave radar and the driving environment data.
The autopilot evaluation report may be stored in a database.
The access management unit may include access person authority management, where the access person authority includes an automatic driving software developer authority, an evaluation system manager authority, and a tester authority; the access management unit allows a software developer to access the code warehouse unit; the access management unit allows an evaluation system manager to install or delete software on the automatic driving software evaluation system; and the access management unit allows a tester to access the test management unit to acquire the evaluation report of the automatic driving software for uploading the driving environment data.
The code repository unit may comprise artifactary software.
The cluster computing platform may be a kubernets cluster computing platform.
The beneficial effect of the technical scheme in the application is that: the system can truly restore the actual road condition and reduce the cost of drive test; by the cluster computing platform, the time of drive test is reduced; through access management, access management of different roles is facilitated, and system safety is enhanced; the test results are recorded through the database, so that the storage and analysis of mass test results are facilitated; mass test results are automatically evaluated through analysis of automatic driving behaviors of the automobile, so that evaluation and analysis of the test are accelerated; through the configuration of the automobile state management, different configurations or different automobiles can be virtualized, and the adaptability of the automatic driving software can be better tested.
Drawings
FIG. 1 is a schematic diagram of a network operating environment of an embodiment of an autopilot software evaluation system;
FIG. 2 is a schematic diagram of a network operating environment of an embodiment of an access server;
FIG. 3 is a schematic block diagram of various functional modules implemented by the access server;
FIG. 4 is a schematic block diagram of multiple servers implementing multiple functions;
FIG. 5 is a schematic block diagram of the location relationship of a cluster computing platform in a network;
FIG. 6 is a schematic block diagram of a computing node processing travel environment data;
FIG. 7 is a schematic block diagram of a computing node processing travel environment data;
FIG. 8 is a schematic block diagram of a computing node processing travel environment data;
FIG. 9 is a schematic block diagram of the collection and use of environmental data.
Detailed Description
The present disclosure is described in further detail below with reference to the attached drawings. It should be noted that the following description is of the preferred embodiments of the present invention and should not be construed as limiting the invention in any way. The description of the preferred embodiments of the present invention is made merely for the purpose of illustrating the general principles of the invention.
As shown in fig. 1, the automobile automation data evaluation platform may operate in an open network, and is open to each autopilot research institution, an autopilot software developer may access the system, a tester may access the system, and a research and development worker of the automobile automation data evaluation platform may access the system to perform management, maintenance and upgrade on the system.
As shown in fig. 2, the public network 0210 is isolated from the local network 0220 by the access server, and the access server controls the authentication of the access personnel, so as to enhance the security of the system.
Referring to fig. 3, an autopilot software evaluation system 0310 is used to test autopilot software or modules, and includes an access server 0320 and a cluster computing platform 0330; the system also comprises an access management unit, a code warehouse unit, a driving environment data unit and a test management unit; the access management unit, the code warehouse unit, the driving environment data unit and the test management unit are software or software modules running on the access server; the access server comprises a network interface 1 and a network interface 2; the access server is connected with a network 1, namely 0351, through a network interface 1, and is connected with a network 2, namely 0352, through a network interface 2; the cluster computing platform comprises more than 3 servers, and the servers of the cluster computing platform comprise a network interface 2; the server of the cluster computing platform is connected with the network 2 through a network interface 2; the driving environment data unit comprises driving environment data, and the driving environment data is obtained by 3D modeling of real vehicles after actual road collection; the tested automatic driving software or module is uploaded to the code warehouse unit through the network 1; the driving environment data is uploaded to a driving environment data unit through a network 1; the test management unit drives the code warehouse unit to distribute the test automatic driving software or the test automatic driving module to the cluster computing platform according to the test plan; the test management unit drives the driving environment data unit to distribute the driving environment data to the cluster computing platform according to the test plan; the test management unit drives the cluster computing platform to run automatic driving software or modules; and the automatic driving software or module virtually executes automatic driving operation according to the driving environment data and outputs the automatic driving control output data of the automobile.
As shown in fig. 9, the driving environment data is acquired by acquiring data of an automobile on an actual road through environment data, and is 3D modeled through environment data, and virtual reality restoration is performed in use.
As shown in fig. 6, each computing node of the cluster computing platform runs the same computing task, decomposes huge driving environment data into each computing node, and performs a test in parallel, so that the automobile autopilot outputs control operation data, and a real road test which needs to be completed in several years can be completed in several days or even several hours.
As shown in fig. 4, the system may further include a code warehouse server, a driving environment data server, and a test management server; the code repository server comprises a network interface 2; the code warehouse server is connected with a network 2 through a network interface 2; the code warehouse unit runs on a code warehouse server; the driving environment data server comprises a network interface 2; the driving environment data server is connected with the network 2 through a network interface 2; the driving environment data unit runs on a driving environment data server; the test management server comprises a network interface 2; the test management server is connected with the network 2 through a network interface 2; the test management unit runs on a test management server.
The driving environment data unit may include a driving environment data decomposition module; the driving environment data decomposition module decomposes the driving environment data into a plurality of drive test sub-data files, and the test management unit drives the driving environment data according to the test plan to distribute the drive test sub-data files to the cluster computing platform.
As shown in fig. 7, the system may further include automobile automatic driving behavior analysis software, where the automobile automatic driving behavior analysis software runs on a computing node of the cluster computing platform; analyzing the output data of the automatic driving control of the automobile; analyzing and outputting an automatic driving software evaluation report, wherein the automatic driving software evaluation report comprises whether the automobile violates the traffic rules in the driving environment data; whether to collide with pedestrians, automobiles and road facilities in the driving environment data; and the distance between the running automobile and the pedestrian and the distance between the automobile and the road facility in the running environment data.
As shown in fig. 7, the system may further include automobile status management software or a module, where the automobile status management software runs on a computing node of the cluster computing platform; the automobile automatic driving behavior analysis software outputs the running parameters of the automobile to the automobile state management software, the running parameters of the automobile comprise the position and the posture of the automobile at the current moment, and the automobile state management software reads the running environment data according to the position, the posture and the speed of the automobile at the current moment and provides the environment data for the automobile automatic driving software. The automobile state management software or module needs a tester to input parameters, can be regarded as a virtual automobile, and enables the automobile automatic driving software to obtain feedback of the controlled automobile state by simulating the behavior of the automobile.
As shown in fig. 8, the car posture adapting module or software may include a car posture adapting module, which is based on the position, posture and speed of the car at the previous moment; and calculating the position, the posture and the speed of the current moment.
Through different adaptation modules, data feedback of different sensors of different automobiles is achieved, the data feedback is combined with driving environment data, the system can truly restore actual road conditions and actual behaviors of pedestrians or vehicles, and the effect of truly controlling automobile drive tests in a virtual environment is achieved. Of course, in this mode, interaction between the tested virtual vehicle and the pedestrian and vehicle in the driving environment data cannot be realized, in a real environment, the tested vehicle interacts with the pedestrian or vehicle in the environment, and the pedestrian or vehicle avoids the tested vehicle, and in this mode, it is difficult to achieve that the pedestrian or vehicle in the environment interacts, but the control behaviors in most states can be tested. Pedestrians or vehicles do not avoid the tested automobile, and control logic errors of the tested automatic driving software are more easily found.
The vehicle attitude adaptation module or software may include an image data adaptation module, and the image data adaptation module calculates current image data of the vehicle camera according to the current position, the current attitude, and the installation position of the vehicle camera and the driving environment data.
The reduction of image data needs huge calculated amount if real rendering is needed, the control behavior of automobile automatic driving software is unpredictable, the rendering needs to be carried out in real time, and meanwhile, abundant driving environment data is needed, so that the requirement on an environment data acquisition automobile is high, the more image sensors are arranged in the environment data acquisition automobile, the more information is acquired, the more real the reduction is, and the more huge the calculated amount is. After receiving the data obtained by the image sensor, the automatic automobile driving software generally performs feature extraction to eliminate information such as image textures and the like, so that the virtually restored data does not have a large actual influence on the control behavior of the automatic automobile driving software.
The automobile attitude adaptation module or software comprises a laser radar adaptation module, and the laser radar adaptation module calculates laser point cloud data obtained by scanning of a laser radar according to the current position, the current attitude and the installation position of the laser radar and the driving environment data.
As shown in fig. 8 and 9, the vehicle attitude adaptation module provides the position of the vehicle under test, the installation height and the angle of the radar, and the laser radar adaptation calculation can provide the object irradiated by the test radar from the driving environment data and provide laser point cloud data.
The automobile attitude adaptation module or software may include a millimeter wave radar adaptation module, and the millimeter wave radar adaptation module calculates laser point cloud data obtained by scanning of the millimeter wave radar according to the current position, attitude and installation position of the millimeter wave radar and the driving environment data.
The autopilot evaluation report may be stored in a database.
The access management unit may include access person authority management, where the access person authority includes an automatic driving software developer authority, an evaluation system manager authority, and a tester authority; the access management unit allows a software developer to access the code warehouse unit; the access management unit allows an evaluation system manager to install or delete software on the automatic driving software evaluation system; and the access management unit allows a tester to access the test management unit to acquire the evaluation report of the automatic driving software for uploading the driving environment data.
It may be that the code repository unit comprises artifactary software. Through the artistry software, different versions of the tested software can be managed, tested data are output, and driving environment data of different versions are also output.
As shown in fig. 5, the cluster computing platform may be a kubernets cluster computing platform. The Kubernetes cluster computing platform comprises a Master Node Master and a large number of computing nodes Node 1-Node n.
Of course, different software version management software or different cluster computing platforms or cloud computing platforms may also be employed.
While the invention has been illustrated and described in terms of a preferred embodiment and several alternatives, the invention is not limited by the specific description in this specification. Other additional alternative or equivalent components may also be used in the practice of the present invention.
Claims (13)
1. An automatic driving software evaluation system for testing automatic driving software or modules is characterized in that
The system comprises an access server and a cluster computing platform;
the system also comprises an access management unit, a code warehouse unit, a driving environment data unit and a test management unit;
the access management unit, the code warehouse unit, the driving environment data unit and the test management unit are software or software modules running on the access server;
the access server comprises a network interface 1 and a network interface 2; the access server is connected with a network 1 through a network interface 1, and is connected with a network 2 through a network interface 2;
the cluster computing platform comprises more than 3 servers, and the servers of the cluster computing platform comprise a network interface 2; the server of the cluster computing platform is connected with the network 2 through a network interface 2;
the driving environment data unit comprises driving environment data, and the driving environment data is obtained by 3D modeling after the real vehicle is collected on an actual road;
the tested automatic driving software or module is uploaded to the code warehouse unit through the network 1; the driving environment data is uploaded to a driving environment data unit through a network 1;
the test management unit drives the code warehouse unit to distribute the test automatic driving software or the test automatic driving module to the cluster computing platform according to the test plan; the test management unit drives the driving environment data unit to distribute the driving environment data to the cluster computing platform according to the test plan; the test management unit drives the cluster computing platform to run automatic driving software or modules; and the automatic driving software or module virtually executes automatic driving operation according to the driving environment data and outputs the automatic driving control output data of the automobile.
2. The automated driving software evaluation system according to claim 1, further comprising a code warehouse server, a driving environment data server, a test management server;
the code repository server comprises a network interface 2; the code warehouse server is connected with a network 2 through a network interface 2; the code warehouse unit runs on a code warehouse server;
the driving environment data server comprises a network interface 2; the driving environment data server is connected with the network 2 through a network interface 2; the driving environment data unit runs on a driving environment data server;
the test management server comprises a network interface 2; the test management server is connected with the network 2 through a network interface 2; the test management unit runs on a test management server.
3. The automated driving software evaluation system of claim 1, wherein the driving environment data unit comprises a driving environment data decomposition module; the driving environment data decomposition module decomposes driving environment data into a plurality of drive test sub-data files, and the test management unit drives the driving environment data according to the test plan to distribute the drive test sub-data files to the cluster computing platform.
4. The autopilot software evaluation system of claim 1 further comprising automotive autopilot behavior analysis software, the automotive autopilot behavior analysis software running on a compute node of the clustered computing platform; analyzing the output data of the automatic driving control of the automobile; analyzing and outputting an automatic driving software evaluation report, wherein the automatic driving software evaluation report comprises whether the automobile violates the traffic rules in the driving environment data; whether to collide with pedestrians, automobiles and road facilities in the driving environment data; and the distance between the running automobile and the pedestrian and the distance between the automobile and the road facility in the running environment data.
5. The autopilot software evaluation system of claim 4 further comprising automotive status management software or modules, the automotive status management software or modules running on the compute nodes of the cluster computing platform; the automobile automatic driving behavior analysis software outputs the running parameters of the automobile to the automobile state management software or module, the running parameters of the automobile comprise the position and the attitude of the automobile at the current moment, and the automobile attitude adaptation module or software reads the running environment data according to the position, the attitude and the speed of the automobile at the current moment and provides the environment data for the automobile automatic driving software.
6. The autopilot software evaluation system of claim 5 wherein the vehicle attitude adaptation module or software comprises a vehicle attitude adaptation module that adapts the vehicle attitude based on the position, attitude, speed of the vehicle at a previous time; and calculating the position, the posture and the speed of the current moment.
7. The automatic driving software evaluation system of claim 6, wherein the vehicle attitude adaptation module or software comprises an image data adaptation module, and the image data adaptation module calculates current image data of the vehicle camera according to the current position, the attitude, and the installation position of the vehicle camera and the driving environment data.
8. The automatic driving software evaluation system of claim 6, wherein the vehicle attitude adaptation module or software comprises a lidar adaptation module, and the lidar adaptation module calculates laser point cloud data obtained by scanning of the lidar according to the current position, attitude and installation position of the lidar and the driving environment data.
9. The automatic driving software evaluation system of claim 6, wherein the automobile attitude adaptation module or software comprises a millimeter wave radar adaptation module, and the millimeter wave radar adaptation module calculates laser point cloud data obtained by scanning of the millimeter wave radar according to the current position, attitude and installation position of the millimeter wave radar and the driving environment data.
10. The autopilot evaluation system of claim 4 wherein the autopilot evaluation report is stored in a database.
11. The autopilot evaluation system of claim 4 wherein the access management unit includes access personnel authority management, the access personnel authority including autopilot developer authority, evaluation system administrator authority, tester authority; the access management unit allows a software developer to access the code warehouse unit; the access management unit allows an evaluation system manager to install or delete software on the automatic driving software evaluation system; and the access management unit allows a tester to access the test management unit to acquire the evaluation report of the automatic driving software for uploading the driving environment data.
12. The automated driving software evaluation system of claim 1, wherein the code warehouse unit comprises artifactary software.
13. The automated driving software evaluation system of claim 1, wherein the cluster computing platform is a kubernets cluster computing platform.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116030551A (en) * | 2023-03-29 | 2023-04-28 | 小米汽车科技有限公司 | Method, device, equipment and storage medium for testing vehicle autopilot software |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116030551A (en) * | 2023-03-29 | 2023-04-28 | 小米汽车科技有限公司 | Method, device, equipment and storage medium for testing vehicle autopilot software |
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