CN115617677A

CN115617677A - Ramp testing method and device for automatic driving vehicle

Info

Publication number: CN115617677A
Application number: CN202211328120.5A
Authority: CN
Inventors: 陈梦星
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2023-01-17

Abstract

The application discloses a ramp testing method and device for an automatic driving vehicle, wherein the method comprises the following steps: analyzing at least one involved functional module and related signals according to the problem description on the defect system; checking signal jump information according to at least one related functional module and related signals, thereby determining the judgment logic and signal value of at least one problem point; and writing a reinjection test case, a reinjection test pseudo code and a reinjection test script so as to execute ramp test work of the automatic driving vehicle. According to the method and the device, the judgment logic and the signal value of the problem point can be determined according to the signal jump information on the defect system, so that the reinjection test case, the reinjection test pseudo code and the reinjection test script are compiled, the ramp test work of the automatic driving vehicle is executed, the manual operation cost is effectively reduced, the intelligent level of the vehicle is improved, and meanwhile, the efficiency and the capability of the tester for autonomously analyzing the problem are improved.

Description

Ramp testing method and device for automatic driving vehicle

Technical Field

The application relates to the technical field of automobile performance testing, in particular to a ramp testing method and device for an automatic driving vehicle.

Background

In the related art, because the ramp condition is complex and the number of involved modules is large, the testing difficulty is relatively high, most of the testing difficulty depends on developers to analyze and locate problems, and the requirement on the service familiarity of the testers is high.

However, in the related art, the problem is analyzed and located by developers, which increases labor cost, takes a long time, reduces the automation level of the vehicle, reduces the efficiency and capability of the testers for autonomously analyzing the problem, reduces the overall efficiency of the automatic driving research and development, and is urgently needed to be solved.

Disclosure of Invention

The present application is based on the inventors' recognition and problem that:

the test of the automatic driving automobile is an important link in the research and development of intelligent driving and is also an important support for the development of automatic driving technology, and along with the continuous upgrading of automatic driving products and the continuous industrial landing of advanced automation and networking systems such as intelligent networking automobiles, the test is more deeply dependent on the test, and meanwhile, a new technical breakthrough is needed.

The test of the automatic driving automobile is accompanied with the whole process of Vehicle development, and the test types mainly include HIL (Hardware In Loop), SIL (software In Loop), VIL (Vehicle In Loop), finished automobile field, road test and the like, wherein the road test is an essential link In the development process of the automatic driving technology and can be used for verifying the safety and reliability of the automatic driving, and the road test needs to collect a large amount of real automobile test data which are generally used for recharging the simulation environment for analysis and debugging so as to verify the product performance or for intercepting and recharging data of problem scene data, but there is no analysis and test method for a specific functional module problem.

The application provides a ramp testing method and device of an automatic driving vehicle, which aims to solve the technical problems that in the related art, problems are analyzed and positioned through developers, the labor cost is increased, the consumed time is long, the automation level of the vehicle is low, the efficiency and the capability of the testers for autonomously analyzing the problems are reduced, and the overall efficiency of automatic driving research and development is reduced.

An embodiment of a first aspect of the present application provides a ramp testing method for an autonomous vehicle, including the following steps: analyzing at least one involved functional module and related signals according to the problem description on the defect system; checking signal hopping information according to the at least one related functional module and the related signal, and determining judgment logic and signal value of at least one problem point based on the signal hopping information; and compiling a reinjection test case, a reinjection test pseudo code and a reinjection test script according to the judgment logic and the signal value of the at least one problem point so as to execute ramp test work of the automatic driving vehicle.

According to the technical means, the judgment logic and the signal value of the problem point can be determined according to the signal jump information on the defect system, so that the reinjection test case, the reinjection test pseudo code and the reinjection test script are compiled, the ramp test work of the automatic driving vehicle is executed, the manual operation cost is effectively reduced, the intelligent level of the vehicle is improved, and meanwhile, the efficiency and the capability of the tester for analyzing the problem autonomously are improved.

Optionally, in an embodiment of the present application, the compiling a reinjection test case, a reinjection test pseudo code, and a reinjection test script according to the determination logic and the signal value of the at least one problem point to execute a ramp test operation of an autonomous vehicle includes: compiling the reinjection test case by using a preset reinjection test case template; compiling the reinjection test pseudo code according to the judgment logic and the signal value; and generating the reinjection test script according to the reinjection test pseudo code.

According to the technical means, the reinjection test script can be generated through the reinjection test pseudo code, the automation level of the vehicle is effectively improved, the capability and the efficiency of automatic problem analysis of a tester are improved, and safe remittance and remittance of the vehicle are achieved.

Optionally, in an embodiment of the present application, the reinjection test case includes at least one of a data ID, a road traffic state, a driver state, an operation step, a detection signal, and an expected result.

According to the technical means, the method and the device for analyzing the reinjection test case can improve the accuracy and reliability of data, improve the accuracy of compiling the reinjection test case, and improve the capability and efficiency of the testers for analyzing the problems independently.

Optionally, in an embodiment of the present application, before performing the ramp test work of the autonomous vehicle, the method further includes: and debugging the reinjection test script until a preset condition is met to obtain a final reinjection test script.

According to the technical means, the reinjection test script can be debugged, the accuracy of compiling the reinjection test script logic codes is effectively improved, and the capability and the efficiency of autonomous problem analysis of testers are improved.

Optionally, in an embodiment of the present application, before analyzing the at least one involved functional module and the related signal, the method further includes: sensor data is collected and problem description determination data information on the defect system is determined based on the sensor data to analyze the data information.

According to the technical means, the data information can be determined based on the problem description on the defect system determined by the sensor data, so that the data information is analyzed, and the accuracy and reliability of data analysis are effectively improved.

An embodiment of a second aspect of the present application provides a ramp testing device for an autonomous vehicle, including: the analysis module is used for analyzing at least one involved functional module and related signals according to the problem description on the defect system; the determining module is used for checking signal jump information according to the at least one related functional module and the related signal and determining the judgment logic and the signal value of at least one problem point based on the signal jump information; and the test module is used for compiling a reinjection test case, a reinjection test pseudo code and a reinjection test script according to the judgment logic and the signal value of the at least one problem point so as to execute the ramp test work of the automatic driving vehicle.

Optionally, in an embodiment of the present application, the test module includes: the first compiling unit is used for compiling the reinjection test cases by utilizing a preset reinjection test case template; the second compiling unit is used for compiling the reinjection test pseudo code according to the judgment logic and the signal value; and the generating unit is used for generating the reinjection test script according to the reinjection test pseudo code.

Optionally, in an embodiment of the present application, the reinjection test case includes at least one of a data ID, a road traffic status, a driver status, an operation step, a detection signal, and an expected result.

Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: and the debugging module is used for debugging the reinjection test script before executing the ramp test work of the automatic driving vehicle until a preset condition is met to obtain a final reinjection test script.

Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: a processing module for collecting sensor data and determining problem description determination data information on the defect system based on the sensor data before analyzing the at least one involved functional module and the related signal, so as to analyze the data information.

An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the ramp testing method of an autonomous vehicle as described in the above embodiments.

A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the ramp testing method for an autonomous vehicle as described above.

The beneficial effect of this application:

(1) The embodiment of the application can generate the reinjection test script through the reinjection test pseudo code, effectively improve the automation level of the vehicle, and improve the capability and efficiency of the testers for autonomously analyzing the problems so as to realize the safe remittance and remittance of the vehicle.

(2) According to the embodiment of the application, the reinjection test script can be debugged, the accuracy of compiling the reinjection test script logic codes is effectively improved, and the capability and efficiency of independent problem analysis of testers are improved.

(3) According to the method and the device, the judgment logic and the signal value of the problem point can be determined according to the signal jump information on the defect system, so that the reinjection test case, the reinjection test pseudo code and the reinjection test script are compiled, the ramp test work of the automatic driving vehicle is executed, the manual operation cost is effectively reduced, the intelligent level of the vehicle is improved, and meanwhile, the efficiency and the capability of the tester for autonomously analyzing the problem are improved.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart of a ramp testing method for an autonomous vehicle according to an embodiment of the present application;

FIG. 2 is a block diagram of a problem analysis method according to an embodiment of the present application;

FIG. 3 is a flow chart of a ramp testing method for an autonomous vehicle according to an exemplary embodiment of the present application;

FIG. 4 is a flowchart of a method for writing a reinjection test script according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a ramp testing device of an autonomous vehicle according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Wherein, 10-ramp testing device of automatic driving vehicle; 100-an analysis module, 200-a determination module, and 300-a test module; 601-memory, 602-processor and 603-communication interface.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A ramp test method and apparatus for an autonomous vehicle according to an embodiment of the present application will be described below with reference to the accompanying drawings. In the method, related function modules and related signals can be described and analyzed according to problems on a defect system, and signal jump information can be checked according to the related function modules and the related signals, so that judgment logic and signal value of at least one problem point can be determined, and then reinjection test cases, reinjection test pseudo codes and reinjection test scripts are compiled to execute the ramp test work of the automatic driving vehicle, so that the manual operation cost is effectively reduced, the intelligent level of the vehicle is improved, and meanwhile, the efficiency and the capability of the tester for autonomously analyzing the problems are improved. Therefore, the problem analysis and positioning through developers in the related technology are solved, the labor cost is increased, the consumed time is long, the automation level of the vehicle is low, the efficiency and the capability of the testers for autonomously analyzing the problems are reduced, and the technical problem of the overall efficiency of the automatic driving research and development is reduced.

Specifically, fig. 1 is a schematic flowchart of a ramp testing method for an autonomous vehicle according to an embodiment of the present disclosure.

As shown in fig. 1, the ramp testing method of the autonomous vehicle includes the steps of:

in step S101, at least one involved functional module and associated signals are analyzed according to the problem description on the defect system.

It can be understood that, in the embodiments of the present application, at least one related function module and related signals may be analyzed according to a problem description on a defect system, for example, the related function module may include components of a control system for automatically driving an upper ramp and a lower ramp, such as a map, a sensing fusion, a transverse planning, a longitudinal planning, and an HMI (Human Machine Interface), and a signal flow relationship between the components, and may be used to search for a problem from a bottommost input to an outmost output step by step, and in addition, each module signal summary may include common signals of the function modules, and input and output signal flows of each module may be used to screen and search for signals, so that the function modules possibly related to the problem and related input/output signals may be analyzed, thereby effectively improving the performability of a ramp test of an automatic driving vehicle, and improving an intelligence level of the vehicle.

Optionally, in an embodiment of the present application, before analyzing at least one involved functional module and related signals, the method further includes: sensor data is collected and problem description determination data information on the defect system is determined based on the sensor data to analyze the data information.

In the actual execution process, the embodiment of the application can collect sensor data, and determine data information based on problem description on a defect system by using the sensor data, for example, an autonomously developed offline visualization tool can be used to open a dat format data file collected by a real vehicle, verify whether the data is available and whether signals are collected comprehensively, facilitate development of subsequent analysis work, check videos collected by a camera, and determine time periods, specific performances and the like of problems appearing in the videos according to the problem description on a problem sheet, wherein the time periods, the specific performances and the like comprise road conditions, vehicle conditions, weather conditions and other environmental information, so that the data information is analyzed, and the accuracy and the reliability of data analysis are effectively improved.

In step S102, the signal transition information is checked according to at least one related function module and the related signal, and a judgment logic and a signal value of at least one problem point are determined based on the signal transition information.

It can be understood that, in the embodiment of the present application, the related function modules and related signals analyzed in the above steps may be analyzed by a tool, for example, the function modules and related signals may be analyzed by a Graphic window of an offline visualization tool, the situation of signal jump information may be checked, and the judgment logic and the signal value of the problem point may be determined based on the signal jump information, so that the manual operation cost is effectively reduced, and the capability and efficiency of a tester for autonomously analyzing the problem are improved.

In step S103, a reinjection test case, a reinjection test pseudo code, and a reinjection test script are compiled according to the judgment logic and the signal value of the at least one problem point, so as to execute a ramp test operation of the autonomous vehicle.

It can be understood that, according to the embodiment of the application, the reinjection test case, the reinjection test pseudo code and the reinjection test script in the following steps can be compiled through the judgment logic and the signal value of the problem point determined in the steps, the debugging work of the script is carried out, and the analysis, positioning and reinjection test of the problems of the upper ramp and the lower ramp of the automatic driving are finally completed, so that the rapid analysis and positioning of the problem point and the generation reason of the error of the upper ramp and the lower ramp of the automatic driving can be helped by a tester, the reinjection test script logic code can be accurately compiled, the capability and the efficiency of the tester for autonomously analyzing the problems can be improved, and the overall efficiency of the automatic driving research and development can be improved.

Optionally, in an embodiment of the present application, writing a reinjection test case, a reinjection test pseudo code, and a reinjection test script according to the determination logic and the signal value of the at least one problem point to perform ramp test work of the autonomous vehicle, includes: writing a reinjection test case by using a preset reinjection test case template; compiling reinjection test pseudo codes according to the judgment logic and the signal values; and generating a reinjection test script according to the reinjection test pseudo code.

As a possible implementation manner, in the embodiment of the application, a reinjection test case can be compiled by using an autonomously designed reinjection test case template, and according to the judgment logic and the signal value, the reinjection test pseudo code is compiled in a simple language without requiring language and grammar, so that the reinjection test script is generated according to the reinjection test pseudo code.

It should be noted that the preset reinjection test case template is set by a person skilled in the art according to actual situations, and is not specifically limited herein.

Wherein, in one embodiment of the present application, the reinjection test case includes at least one of a data ID, a road traffic state, a driver state, an operation step, a detection signal, and an expected result.

In some embodiments, the reinjection test case may include, but is not limited to, a data ID, a road traffic state, a driver state, an operation step, a detection signal, an expected result, and the like, so that accuracy and reliability of data may be improved, accuracy of writing the reinjection test case may be improved, and capability and efficiency of a tester to autonomously analyze a problem may be improved.

Optionally, in an embodiment of the present application, before performing the ramp test work of the autonomous vehicle, the method further includes: and debugging the reinjection test script until the reinjection test script meets a preset condition to obtain a final reinjection test script.

In the actual execution process, the reinjection test script can be debugged, for example, the fault state is required to be achieved in the version with the found problem, or the Pass state is required to be achieved in the version with the repaired problem until the preset condition is met, and the final reinjection test script fault or Pass is obtained, so that the accuracy of writing the logic code of the reinjection test script is effectively improved, the capability and the efficiency of autonomous problem analysis of a tester are improved, and the safe input and output of the vehicle are realized.

The preset conditions are set by those skilled in the art according to actual conditions, and are not specifically limited herein.

Fig. 2 is a schematic diagram of a framework of a problem analysis method according to a specific embodiment of the present application, which specifically includes related function modules, signal summarization of each module, a common ramp test scenario, and a scenario ramp problem and analysis.

For example, the related function modules may include control system components for automatically driving an upper ramp and a lower ramp, such as a map, a sensor fusion, a transverse planning, a longitudinal planning, an HMI, and the like, and a signal flow relationship among the components, and are used for searching for problems step by step from input at the bottom layer to output at the outermost layer.

Next, the ramp test scenario may include scenarios such as ramp merging into main road-guided lane, ramp merging into main road-unguided lane, main road entering ramp-continuous turnout, etc., each scenario lists the focus of the test, and whether the lane change mode mainly meets the traffic rules, for example, the dotted line may change lane, the solid line may not change lane, the priority right, the processing mode during lane change conflict, the processing of lane change failure, etc., so that the tester can analyze the problem more accurately, and can realize the safe merging and merging of the automatically driven vehicle on the ramp.

In conclusion, the common ramp problems and the analysis summarize the concrete expression, the analysis method, the detection signals and the reinjection script compiling logic of the problems encountered by the previous upper ramp and the lower ramp, so that the problem analysis, the problem positioning and the problem regression are facilitated for the testers, the efficiency and the capability of the testers for autonomously analyzing the problems are improved, and the overall efficiency of the automatic driving research and development is improved.

The working principle of the embodiment of the present application is explained in detail below with a specific embodiment, as shown in fig. 3.

Step S301: and preliminarily judging the function modules possibly involved according to the problem description.

That is, the embodiment of the present application may preliminarily analyze and determine the functional modules that may be involved in the problem according to the problem description on the defect system.

Step S302: and opening a data file collected by the real vehicle by using an offline visualization tool.

In other words, the offline visualization tool which is independently developed can be used in the embodiment of the application, the dat format data file acquired by the real vehicle can be opened, whether the data are available or not and whether the signals are comprehensively acquired or not can be verified, and the subsequent analysis work can be conveniently carried out.

Step S303: and viewing the video, and positioning the concrete expression and the time point of the problem.

That is to say, the embodiment of the application can check the video collected by the camera, and determine the time period, the specific performance and the like of the problem appearing in the video according to the description on the question sheet.

Step S304: and (4) obtaining a signal possibly related to the problem according to an upper ramp and lower ramp problem analysis method.

That is, the embodiment of the present application may obtain the functional modules and the related input/output signals that may be involved in the problem according to the upper and lower ramp problem analysis method.

Step S305: and checking the jumping condition of the required signal and positioning the problem (obtaining a signal value and judging logic) through a Graphic window of an offline visualization tool.

That is to say, the embodiment of the application can analyze through the Graphic window of the offline visualization tool, check the signal jump condition, and determine the judgment logic and the signal value of the problem point.

Step S306: and compiling a reinjection test script according to the signal and the code logic and completing debugging.

That is to say, according to the embodiment of the application, the reinjection test case, the reinjection test pseudo code and the reinjection test script can be compiled according to the signal and the code logic, and finally the debugging work of the script is performed, so that the capability and the efficiency of the testers for autonomously analyzing the problems are improved, and the overall efficiency of the automatic driving research and development is improved.

The working principle of the embodiment of the present application is explained in detail below with a specific embodiment, as shown in fig. 4.

Step S401: the design test case may contain setup and operation steps of the vehicle, test points, test signals, and expected results.

That is to say, the test case can be compiled according to the autonomously designed "reinjection test case template", and the test case can include the setting and operation steps of the vehicle, the test points, the detection signals, the expected results, and the like.

Step S402: write back injection test pseudo code.

That is, the embodiments of the present application can write pseudo code in simple statements according to functional logic and signals, without requiring language and syntax.

Step S403: the pseudo code is converted into a reinjection test script (declaring signal variables, time dotting, verifying problem points, and finally outputting Fail or Pass on the logic code segment).

That is to say, in the embodiment of the present application, the pseudo code may be written in the C + + language to be the reinjection test script, and the detection point is required to be clearly and completely covered by logic, so as to obtain the final reinjection test script Fail or Pass.

Step S404: and debugging the reinjection test script (the new version and the old version are respectively carried out).

That is to say, the reinjection test script can be debugged in the embodiment of the application, namely, the version found in the problem needs to reach the Fail state, and the version repaired in the problem needs to reach the Pass state, so that the accuracy of compiling the reinjection test script logic code is effectively improved, and the capability and efficiency of a tester for autonomously analyzing the problem are improved.

According to the ramp testing method of the automatic driving vehicle, the related function modules and related signals can be described and analyzed according to the problems on the defect system, and the signal jump information is checked according to the related function modules and the related signals, so that the judgment logic and the signal value of at least one problem point are determined, and then the reinjection test case, the reinjection test pseudo code and the reinjection test script are compiled to execute the ramp testing work of the automatic driving vehicle, so that the manual operation cost is effectively reduced, the intellectualization level of the vehicle is improved, and meanwhile, the efficiency and the capability of a tester for autonomously analyzing the problems are improved. Therefore, the problem analysis and positioning through developers in the related technology are solved, the labor cost is increased, the consumed time is long, the automation level of the vehicle is low, the efficiency and the capability of the testers for autonomously analyzing the problems are reduced, and the technical problem of the overall efficiency of the automatic driving research and development is reduced.

Next, a ramp test device for an autonomous vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 5 is a block diagram schematically illustrating a ramp testing apparatus for an autonomous vehicle according to an embodiment of the present application.

As shown in fig. 5, the ramp test device 10 of the autonomous vehicle includes: an analysis module 100, a determination module 200 and a test module 300.

In particular, the analysis module 100 is configured to analyze at least one involved functional module and related signals according to a problem description on the defect system.

A determining module 200, configured to look up signal transition information according to at least one involved functional module and a related signal, and determine a judgment logic and a signal value of at least one problem point based on the signal transition information.

The test module 300 is configured to compile a reinjection test case, a reinjection test pseudo code, and a reinjection test script according to the determination logic and the signal value of the at least one problem point, so as to perform a ramp test operation of the autonomous vehicle.

Optionally, in an embodiment of the present application, the test module 300 includes: the device comprises a first programming unit, a second programming unit and a generating unit.

The first compiling unit is used for compiling the reinjection test cases by utilizing the preset reinjection test case template.

And the second compiling unit is used for compiling the reinjection test pseudo code according to the judgment logic and the signal value.

And the generating unit is used for generating the reinjection test script according to the reinjection test pseudo code.

Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: and a debugging module.

The debugging module is used for debugging the reinjection test script before executing the ramp test work of the automatic driving vehicle until a preset condition is met, and obtaining a final reinjection test script.

Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: and a processing module.

The processing module is used for collecting sensor data before analyzing at least one related functional module and related signals, and determining problem description determination data information on a defect system based on the sensor data so as to analyze the data information.

It should be noted that the foregoing explanation of the embodiment of the ramp testing method for an automatically driven vehicle is also applicable to the ramp testing device for an automatically driven vehicle in this embodiment, and details are not repeated here.

According to the ramp testing device of the automatic driving vehicle, related functional modules and related signals can be described and analyzed according to problems on a defect system, and signal jump information is checked according to the related functional modules and the related signals, so that the judgment logic and the signal value of at least one problem point are determined, and then a reinjection test case, a reinjection test pseudo code and a reinjection test script are compiled to execute ramp testing work of the automatic driving vehicle, so that the manual operation cost is effectively reduced, the intelligence level of the vehicle is improved, and meanwhile, the efficiency and the capability of a tester for autonomously analyzing the problems are improved. Therefore, the problem analysis and positioning through developers in the related technology are solved, the labor cost is increased, the consumed time is long, the automation level of the vehicle is low, the efficiency and the capability of the testers for autonomously analyzing the problems are reduced, and the technical problem of the overall efficiency of the automatic driving research and development is reduced.

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

The processor 602, when executing the program, implements the ramp testing method of the autonomous vehicle provided in the above embodiments.

Further, the vehicle further includes:

a communication interface 603 for communication between the memory 601 and the processor 602.

The memory 601 is used for storing computer programs that can be run on the processor 602.

Memory 601 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.

Alternatively, in practical implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may complete communication with each other through an internal interface.

The processor 602 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the ramp testing method of an autonomous vehicle as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A ramp testing method of an automatically driven vehicle is characterized by comprising the following steps:

analyzing at least one involved functional module and related signals according to the problem description on the defect system;

checking signal jump information according to the at least one related functional module and the related signal, and determining judgment logic and signal value of at least one problem point based on the signal jump information; and

and compiling a reinjection test case, a reinjection test pseudo code and a reinjection test script according to the judgment logic and the signal value of the at least one problem point so as to execute ramp test work of the automatic driving vehicle.

2. The method of claim 1, wherein compiling a reinjection test case, a reinjection test pseudo code, and a reinjection test script according to the judgment logic and the signal value of the at least one problem point to perform ramp test work of the autonomous vehicle comprises:

compiling the reinjection test case by using a preset reinjection test case template;

compiling the reinjection test pseudo code according to the judgment logic and the signal value;

and generating the reinjection test script according to the reinjection test pseudo code.

3. The method of claim 2, wherein the reinjection test case comprises at least one of a data ID, a road traffic status, a driver status, an operational step, a detection signal, and an expected result.

4. The method of claim 1, further comprising, prior to performing a ramp testing job of the autonomous vehicle:

and debugging the reinjection test script until a preset condition is met to obtain a final reinjection test script.

5. The method of claim 1, further comprising, prior to analyzing the at least one involved functional module and the associated signal:

sensor data is collected and problem description determination data information on the defect system is determined based on the sensor data to analyze the data information.

6. A ramp testing device for an autonomous vehicle, comprising:

the analysis module is used for analyzing at least one involved functional module and related signals according to the problem description on the defect system;

the determining module is used for checking signal jump information according to the at least one related functional module and the related signal and determining the judgment logic and the signal value of at least one problem point based on the signal jump information; and

and the test module is used for compiling a reinjection test case, a reinjection test pseudo code and a reinjection test script according to the judgment logic and the signal value of the at least one problem point so as to execute the ramp test work of the automatic driving vehicle.

7. The apparatus of claim 6, wherein the testing module comprises:

the first compiling unit is used for compiling the reinjection test cases by utilizing a preset reinjection test case template;

the second compiling unit is used for compiling the reinjection test pseudo code according to the judgment logic and the signal value;

8. The apparatus of claim 7, wherein the reinjection test case comprises at least one of a data ID, a road traffic status, a driver status, an operational step, a detected signal, and an expected result.

9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the ramp testing method of an autonomous vehicle according to any of claims 1-5.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the ramp testing method of an autonomous vehicle according to any of claims 1 to 5.