CN-116893659-B - Automatic driving test method and device, storage medium, processor and electronic device

CN116893659BCN 116893659 BCN116893659 BCN 116893659BCN-116893659-B

Abstract

The invention discloses an automatic driving test method, an automatic driving test device, a storage medium, a processor and an electronic device. The method comprises the steps of obtaining the distance between a tested vehicle and a target vehicle, wherein the tested vehicle is arranged on a vehicle transmission platform, the target vehicle is the front vehicle of the tested vehicle, activating an automatic emergency braking function of the tested vehicle in response to the distance between the tested vehicle and the target vehicle being smaller than a first preset threshold value, and testing the automatic emergency braking function based on the distance between the tested vehicle and the target vehicle in response to the automatic emergency braking function being in an activated state to obtain a test result, wherein the test result is used for indicating whether the tested vehicle is braked successfully or not. The invention solves the technical problem of lower test accuracy caused by carrying out automatic driving test outdoors in the related art.

Inventors

LIU TAO
XING TONG
WU ZHENXIN
Zhao Penggang
ZHANG ZHENGLONG
PENG LIANG
CHI TING
YANG YUANZE
ZHAO SIJIA

Assignees

中国第一汽车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20230725

Claims (6)

1. An automated driving test method, the method comprising: Obtaining the distance between a tested vehicle and a target vehicle, wherein the tested vehicle is arranged on a vehicle transmission platform, and the target vehicle is the front vehicle of the tested vehicle; Activating an automatic emergency braking function of the vehicle under test in response to the distance between the vehicle under test and the target vehicle being less than a first preset threshold; Responding to the automatic emergency braking function in an activated state, and testing the automatic emergency braking function based on the distance between the tested vehicle and the target vehicle to obtain a test result, wherein the test result is used for indicating whether the tested vehicle is braked successfully or not; The method further comprises the steps of controlling the tested vehicle to run in a first running direction and obtaining first running state information, wherein the first running state information is used for representing running states of the tested vehicle, the first running state information comprises vehicle speed information, vehicle acceleration information and vehicle position information of the tested vehicle, the first driving force is determined based on the first running state information, the vehicle transmission platform is controlled to rotate in a second running direction based on the first driving force so that the position of the tested vehicle relative to the ground is kept unchanged, the second running direction is opposite to the first running direction, a first braking force is obtained, the first braking force is used for representing braking forces generated by the tested vehicle after the automatic emergency braking function is activated, the first driving force is updated based on the first braking force and the first running state information to obtain second driving force, the vehicle transmission platform is controlled to rotate based on the first driving force so that the position of the tested vehicle is kept unchanged relative to the ground, the first driving force is controlled to obtain the second driving force, and the vehicle is not expected to run in the second running direction, and the vehicle speed information is not expected to be used for representing the running states of the target vehicle.
2. The automated driving test method of claim 1, wherein testing the automated emergency braking function based on a distance between the vehicle under test and the target vehicle, the testing result comprising: determining that the test result is that the brake of the tested vehicle fails according to the fact that the distance between the tested vehicle and the target vehicle is smaller than or equal to a second preset threshold value; and responding to the distance between the tested vehicle and the target vehicle being greater than or equal to a second preset threshold value, and determining that the tested vehicle is braked successfully as a result of the test when the target vehicle is stationary.
3. An autopilot test unit, the unit comprising: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the distance between a tested vehicle and a target vehicle, the tested vehicle is arranged on a vehicle transmission platform, and the target vehicle is the front vehicle of the tested vehicle; An activation module for activating an automatic emergency braking function of the vehicle under test in response to a distance between the vehicle under test and the target vehicle being less than a first preset threshold; The test module is used for responding to the automatic emergency braking function in an activated state, and testing the automatic emergency braking function based on the distance between the tested vehicle and the target vehicle to obtain a test result, wherein the test result is used for indicating whether the tested vehicle is braked successfully or not; The device is further used for controlling the tested vehicle to run in a first running direction before the distance between the tested vehicle and the target vehicle is obtained, and obtaining first running state information, wherein the first running state information is used for representing the running state of the tested vehicle, the first running state information comprises vehicle speed information, vehicle acceleration information and vehicle position information of the tested vehicle, the first driving force is determined based on the first running state information, the vehicle transmission platform is controlled to rotate in a second running direction based on the first driving force so that the position of the tested vehicle relative to the ground is kept unchanged, the second running direction is opposite to the first running direction, a first braking force is obtained, the first braking force is used for representing braking force generated by the tested vehicle after the automatic emergency braking function is activated, the second driving force is obtained by updating the first driving force based on the first braking force and the first running state information, the vehicle transmission platform is controlled to rotate based on the second driving force, the position of the tested vehicle is kept unchanged relative to the ground, the second driving force is controlled to enable the vehicle transmission platform to rotate in the second running direction relative to the first driving force, and the vehicle is expected to rotate in the second running direction, and the first driving force is obtained based on the first driving state information, and the first driving force is used for representing the expected running state information, the speed information of the tested vehicle is expected to rotate, and the vehicle is expected to rotate in the second driving direction.
4. A non-volatile storage medium, characterized in that a computer program is stored in the storage medium, wherein the computer program is arranged to execute the autopilot test method according to any one of claims 1 to 2 at run-time.
5. A processor, characterized in that the processor is adapted to run a program, wherein the program is arranged to execute the autopilot test method of any one of claims 1 to 2 at run-time.
6. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the autopilot test method of any one of claims 1 to 2.

Description

Automatic driving test method and device, storage medium, processor and electronic device Technical Field The invention relates to the field of automatic driving, in particular to an automatic driving test method, an automatic driving test device, a storage medium, a processor and an electronic device. Background With the rapid development of automatic driving technology, the performance of advanced driving assistance systems (ADVANCED DRIVING ASSISTANCE SYSTEM, ADAS) is gradually perfected, wherein ADAS can collect data related to the surrounding environment and traffic flow of a vehicle based on-board sensors, and assist drivers to control the vehicle partially. In order to further improve the performance of the ADAS, real vehicle tests are required to be continuously carried out to verify the performance of the ADAS. The real vehicle test in the related art is often carried out in an outdoor test field, so that the time and the labor cost are increased intangibly due to remote test field and shortage of field resources, and the uncertainty of outdoor climate environment conditions also has great influence on the test, so that the consistency of the results of repeated tests is difficult to maintain. Therefore, the automatic driving test method in the related art has lower accuracy and higher cost. In view of the above problems, no effective solution has been proposed at present. Disclosure of Invention The embodiment of the invention provides an automatic driving test method, an automatic driving test device, a storage medium, a processor and an electronic device, which at least solve the technical problem of low test accuracy caused by outdoor automatic driving test in the related technology. According to one embodiment of the invention, an automatic driving test method is provided, which comprises the steps of obtaining the distance between a tested vehicle and a target vehicle, wherein the tested vehicle is arranged on a vehicle transmission platform, the target vehicle is the front vehicle of the tested vehicle, activating an automatic emergency braking function of the tested vehicle in response to the distance between the tested vehicle and the target vehicle being smaller than a first preset threshold value, and testing the automatic emergency braking function based on the distance between the tested vehicle and the target vehicle in response to the automatic emergency braking function being in an activated state to obtain a test result, wherein the test result is used for indicating whether the tested vehicle is braked successfully or not. Optionally, before the distance between the detected vehicle and the target vehicle is acquired, the automatic driving test method further comprises the steps of controlling the detected vehicle to travel in a first traveling direction and acquiring first traveling state information, wherein the first traveling state information is used for representing the traveling state of the detected vehicle, the first traveling state information comprises vehicle speed information, vehicle acceleration information and vehicle position information of the detected vehicle, controlling the vehicle transmission platform to rotate in a second traveling direction based on the first traveling state information so that the position of the detected vehicle relative to the ground is kept unchanged, controlling the target vehicle to travel in the second traveling direction based on the first traveling state information, and acquiring second traveling state information, wherein the second traveling state information is used for representing the traveling state of the target vehicle, and the second traveling state information comprises the vehicle speed information, the vehicle acceleration information and the vehicle position information of the target vehicle. Optionally, controlling the vehicle drive platform to rotate in the second direction of travel based on the first operating state information includes determining a first driving force based on the first operating state information and controlling the vehicle drive platform to rotate in the second direction of travel based on the first driving force. The automatic driving test method comprises the steps of obtaining a first braking force, updating the first driving force based on the first braking force and the first running state information to obtain a second driving force, and controlling a vehicle transmission platform to rotate based on the second driving force so as to enable the position of the tested vehicle relative to the ground to be unchanged. Optionally, controlling the target vehicle to travel in the second travel direction based on the first travel state information includes determining a desired speed of the target vehicle based on the first braking force and the first travel state information and controlling the target vehicle to travel in the second travel direction at the desired speed. Optionally, the automat