Summary of the invention
The purpose of the application be to propose a kind of improvement automatic driving vehicle perception test system andMethod of testing, solves the technical problem that background section above is mentioned.
First aspect, this application provides a kind of automatic driving vehicle perception test system, including:Automatic driving vehicle；Trigger device, for judge between automatic driving vehicle and human simulation away fromFrom whether reaching predeterminable range, the most then send motion triggers signal to human simulation；Human simulation,For moving along desired guiding trajectory in response to receiving motion triggers signal；Automatic driving vehicle is used forIn human simulation motor process, gather image, and judge whether image comprises human simulation.
In certain embodiments, trigger device and include sender unit and signal receiving device；Sender unit is used for electromagnetic signals, and signal receiving device is used for receiving electromagnetic wave letterNumber；If signal receiving device does not receives electromagnetic wave signal, then send motion triggers to human simulationSignal.
In certain embodiments, sender unit includes laser beam emitting device, and signal receives dressPut and include laser receiver, and laser receiver swashing of being arranged at that laser beam emitting device sendsIn the light path of light.
In certain embodiments, the direction of motion of desired guiding trajectory and the motion side of automatic driving vehicleTo identical, contrary or vertical.
In certain embodiments, automatic driving vehicle perception test system, also include configuring device；Configuration device is for configuring the kinematic parameter of automatic driving vehicle and the kinematic parameter of human simulation.
In certain embodiments, kinematic parameter include following at least one: movement locus, speedAnd acceleration.
In certain embodiments, human simulation includes driving means；Driving means is used for receiving configurationThe kinematic parameter of the human simulation that device sends, and kinematic parameter driving simulation people based on human simulationMotion.
Second aspect, this application provides a kind of automatic driving vehicle perception test method, including:Trigger device and judge whether the distance between automatic driving vehicle and human simulation reaches predeterminable range,The most then send motion triggers signal to human simulation；Human simulation is in response to receiving motion triggersSignal moves along desired guiding trajectory；And automatic driving vehicle gathers figure in human simulation motor processPicture, and judge whether image comprises human simulation.
In certain embodiments, trigger device judge between automatic driving vehicle and human simulation away fromFrom whether reaching predeterminable range, the most then send motion triggers signal to human simulation and include: touchThe sender unit electromagnetic signals of transmitting apparatus, the signal receiving device triggering device connectsReceive electromagnetic wave signal；And if signal receiving device does not receives electromagnetic wave signal, then to emulationPeople sends motion triggers signal.
In certain embodiments, the direction of motion of desired guiding trajectory and the motion side of automatic driving vehicleTo identical, contrary or vertical.
In certain embodiments, automatic driving vehicle perception test method, also include: configuration dressPut the kinematic parameter of kinematic parameter and the human simulation being pre-configured with automatic driving vehicle.
In certain embodiments, kinematic parameter include following at least one: movement locus, speedAnd acceleration.
In certain embodiments, automatic driving vehicle perception test method also includes: human simulationDriving means receives the kinematic parameter of the human simulation that configuration device sends, and fortune based on human simulationDynamic driving parameter human simulation motion.
The automatic driving vehicle perception test system of the application offer and method of testing, drive at nobodySail the distance between vehicle and human simulation when reaching predeterminable range, by triggering device to emulation Crinis CarbonisatusSend motion triggers signal so that human simulation moves along desired guiding trajectory, and existed by automatic driving vehicleHuman simulation motor process gathers image and judges whether the image collected comprises this emulationPeople, it is achieved thereby that automatic driving vehicle is in the process of moving, between itself and human simulation away fromIn time reaching predeterminable range, automatically motion triggers signal is sent to human simulation, compared to existingMan of skill's eye is observed the most accurate.
In certain embodiments, the kinematic parameter of automatic driving vehicle and human simulation can be by configuringDevice is pre-configured with, thus realizes the multiformity of test condition, accurately surveys the most comprehensivelyTry out the recognition capability of automatic driving vehicle.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is appreciated that, specific embodiment described herein is used only for explaining related invention, rather than to thisBright restriction.It also should be noted that, for the ease of describe, accompanying drawing illustrate only withAbout the part that invention is relevant.
It should be noted that in the case of not conflicting, the embodiment in the application and embodimentIn feature can be mutually combined.Describe this below with reference to the accompanying drawings and in conjunction with the embodiments in detailApplication.
Fig. 1 shows showing of automatic driving vehicle one embodiment of perception test system of the applicationMeaning property structure Figure 100.
As it is shown in figure 1, automatic driving vehicle perception test system can include automatic driving vehicle110, device 120 and human simulation 130 are triggered.
Wherein, trigger device 110 to can be used for judging automatic driving vehicle 110 and human simulation 130Between distance whether reach predeterminable range, the most then send motion triggers to human simulation 130Signal.
Human simulation 130 can be used for triggering, in response to receiving, the motion triggers letter that device 110 sendsNumber and move along desired guiding trajectory.
Automatic driving vehicle 120 can be used for gathering image in human simulation motor process, and judgesWhether image comprises human simulation.
Such as, automatic driving vehicle 110 moves towards human simulation 130, distance therebetweenThe most close, during until this distance reaches a distance set in advance, trigger device 110 and can touchSend out human simulation 130 to move.
(figure does not shows additionally, be also provided with image collecting device on automatic driving vehicle 110Go out) and image processing apparatus (not shown).In human simulation 130 motor process, unmannedThe image collecting device driven on vehicle 110 can gather the ring around automatic driving vehicle 110Border image, and by image processing apparatus to image acquisition device to ambient image carry outReason, to judge whether include human simulation in the ambient image collected.
In application scenes, comparison automatic driving vehicle can be carried out by some technological meansThe recognition result of the image processing apparatus of 110 and expected result, thus judge automatic driving carThe effectiveness of the image collecting device of 110 and/or the image procossing dress of automatic driving vehicle 110The recognition accuracy put, and adjust the acquisition parameter of image collecting device on this basis (such asThe angular range of image acquisition, focal length etc.) and/or the image recognition that used of pattern recognition deviceAlgorithm etc..
The automatic driving vehicle perception test system of the present embodiment, automatic by triggering device 120Distance between ground perception automatic driving vehicle 110 and human simulation 130, and reach pre-in distanceMotion triggers signal is sent from trend human simulation 130 during the distance first set, thus more accuratelyControl to trigger the trigger condition of human simulation 130 motion.
So, by the automatic driving vehicle perception test system of the present embodiment, Ke YigengAccurately to sensing device (the such as image collecting device, image on automatic driving vehicle 110Processing means etc.) perceived effect and accuracy provide diversified test condition, for follow-upThe design of automatic Pilot algorithm provides accurate foundation.
In some optional implementations, triggering device 120 may further include signal and sends outInjection device 121 and signal receiving device 122.
Sender unit 121 can be used for electromagnetic signals, and correspondingly, signal receives dressPut 122 to can be used for receiving the electromagnetic wave signal that sender unit 121 is launched.
In application scenes, if signal receiving device 122 does not receives sender unit121 electromagnetic wave signals launched, then send motion triggers signal to human simulation 130.
Or, in other application scenarios, can pre-set signal receiving device 122 toHuman simulation 130 sends the trigger condition of motion triggers signal.
In these application scenarios, for example, it is possible to the first letter of an electromagnetic wave signal need to first be setNumber intensity is as a reference signal strength, when the electromagnetic wave letter that signal receiving device 122 receivesNumber the difference of signal intensity and this reference signal strength when being within a threshold range preset,Can represent that now distance between automatic driving vehicle 110 and human simulation 130 not yet reaches defaultDistance (such as, preset more than this by the distance between automatic driving vehicle 110 and human simulation 130Distance), now, signal receiving device 122 does not sends motion triggers signal to human simulation 130.
On the other hand, if the signal intensity of electromagnetic wave signal that receives of signal receiving device 122(such as, signal receives dress to the threshold range preset beyond this with the difference of this reference signal strengthPut the signal intensity of 122 electromagnetic wave signals received much smaller than this reference signal strength), can tableShow that now distance between automatic driving vehicle 110 and human simulation 130 has reached predeterminable range,Now, signal receiving device 122 sends motion triggers signal to human simulation 130.
In some optional implementations, sender unit 121 such as can include laserDischarger.Correspondingly, signal receiving device 122 can include laser receiver, and swashsOptical pickup apparatus is arranged in the light path of the laser that laser beam emitting device sends.
In the application scenes of these optional implementations, laser beam emitting device is to outgoingPenetrating laser, laser receiver can judge laser according to the signal intensity of its laser receivedObject whether is had to block light path between discharger and laser receiver.If laser receiverThe signal that the signal intensity of the laser received is far smaller than the laser that laser beam emitting device is launched is strongDegree, then may determine that and have object to block light path between laser beam emitting device and laser receiver,Laser receiver can judge to determine automatic driving vehicle 110 and human simulation on this basisDistance between 130 has reached predeterminable range, and sends motion triggers signal to human simulation 130.
In some optional implementations, the direction of motion of the desired guiding trajectory of human simulation 130 canIt is any angle with the direction of motion of automatic driving vehicle.
Such as, in application scenes, any point in the desired guiding trajectory of human simulation 130Tangential direction (namely movement velocity direction when human simulation 130 is in this of desired guiding trajectory)And the angle between the direction of motion of automatic driving vehicle can be zero.In these application scenarios,This desired guiding trajectory of human simulation such as may be used for simulating pedestrian along identical with autonomous driving vehicleThe situation advanced in direction.
Or, in other application scenarios, any point in the desired guiding trajectory of human simulation 130Tangential direction (namely movement velocity direction when human simulation 130 is in this of desired guiding trajectory)And the angle between the direction of motion of automatic driving vehicle can be 180 °.In these applied fieldJing Zhong, this desired guiding trajectory of human simulation such as may be used for simulate pedestrian along with automatic Pilot vapourThe situation that car rightabout is advanced.
Or, in other application scenarios, any point in the desired guiding trajectory of human simulation 130Tangential direction (namely movement velocity direction when human simulation 130 is in this of desired guiding trajectory)And the angle between the direction of motion of automatic driving vehicle can approximate 90 °.Apply at theseIn scene, this desired guiding trajectory of human simulation such as may be used for simulating pedestrian along the side of jaywalkingTo the situation advanced.
Shown in Figure 2, for another enforcement of automatic driving vehicle perception test system of the applicationSchematic structure Figure 200 of example.
Similar with the automatic driving vehicle perception test system of embodiment illustrated in fig. 1, the present embodimentAutomatic driving vehicle perception test system can also include automatic driving vehicle 210, trigger dressPut 220 and human simulation 230.
Wherein, trigger device 210 to can also be used for judging automatic driving vehicle 210 and human simulation 230Between distance whether reach predeterminable range, the most then send motion triggers to human simulation 230Signal.
Human simulation 230 can also be used for triggering, in response to receiving, the motion triggers that device 210 sendsSignal and move along desired guiding trajectory.
Automatic driving vehicle 220 can also be used for gathering image in human simulation 230 motor process,And judge whether image comprises human simulation 230.
Additionally, trigger device 220 can also farther include sender unit 221 and signalReceive device 222.
Sender unit 221 can also be used for electromagnetic signals, and correspondingly, signal receivesDevice 222 can also be used for receiving the electromagnetic wave signal that sender unit 221 is launched.If signalReceive device 222 and do not receive the electromagnetic wave signal that sender unit 221 is launched, then to imitativeTrue man 230 send motion triggers signal.
Unlike the embodiment shown in Fig. 1, the automatic driving vehicle perception of the present embodiment is surveyedTest system can further include configuration device 240.Configuration device 240 can be used for configuring nothingPeople drives kinematic parameter and the kinematic parameter of human simulation 230 of vehicle 210.
In some optional implementations, kinematic parameter such as can include following at least one:Movement locus, speed and acceleration.
By to automatic driving vehicle 210 and the kinematic parameter of human simulation 230, it is possible to achieveMulti-motion test condition, consequently facilitating under the conditions of detecting various exercise test all sidedly, automaticallyDrive a car 210 the susceptiveness of sensing device, effectiveness and accuracy etc..
In some optional implementations, the automatic driving vehicle perception test system of the present embodimentIn system, human simulation 230 can further include driving means 231.
Driving means 231 can be used for receiving the motion of the human simulation 230 that configuration device 240 sendsParameter, and kinematic parameter driving simulation people 230 based on human simulation 230 moves.
In the application scenes of these optional implementations, driving means 231 such as may be usedTo be positioned at the bottom of whole human simulation 230 so that this driving means 231 forms one " base "Structure.
Driving means 231 such as can include communication module, Parameter analysis of electrochemical module, drive motorAnd actuator etc..In these application scenarios, communication module can receive configuration device 240The kinematic parameter of human simulation 230 sent, and the kinematic parameter of human simulation 230 that will receiveSend to Parameter analysis of electrochemical module.Parameter analysis of electrochemical module can be to the fortune of the human simulation 230 receivedDynamic parameter resolves, to generate the control signal controlling to drive motor rotation.Drive motor baseGenerate the motor message driving actuator campaign in control signal, actuator is based on this motionSignal drive human simulation 230 move it is achieved thereby that human simulation 230 motion with configuration deviceThe kinematic parameter of 240 human simulations 230 sent matches.
In application scenes, configuration device 240 can also be special to the profile of human simulation 230Levy and configure, and resemblance data are sent to driving means 231.In these applied fieldJing Zhong, driving means 231 is also based on resemblance data for regulating human simulation 230Resemblance.Here, resemblance such as can include that human simulation 230 is in a predetermined three-dimensionalThe maximum of each coordinate and the difference of minima in cartesian coordinate system, by arranging human simulation 230The maximum of the most each coordinate and the difference of minima, can correspondingly arrange human simulationThe height of 230, fat or thin etc. resemblance.
See shown in Fig. 3 A and Fig. 3 B, for the automatic driving vehicle perception test system of the applicationThe schematic diagram of an application scenarios.
First, referring to shown in Fig. 3 A, automatic driving vehicle 310 is with speed vVehicleAlong arrowDirection motion shown in head.Laser beam emitting device 321 sends laser beam, laser receiver 322It is arranged in the light path of laser beam.In Fig. 3 A, owing to automatic driving vehicle is not in laserIn the light path of light beam, thus, laser receiver 322 can normally receive laser signal,Thus the motion triggers signal triggering its motion is not sent to human simulation 330.
Then, continuing referring to Fig. 3 B, automatic driving vehicle 310 continues with speed vVehicleBeforeEnter, until marching in the light path of laser beam, now, owing to automatic driving vehicle blocksThe laser signal that should be received by laser receiver 322, laser receiver 322 will be to imitativeTrue man 330 send the motion triggers signal triggering its motion.Human simulation 330 is receiving motionAfter triggering signal, will move based on kinematic parameter set in advance, with simulation as shown in Figure 3 BThe scene jaywalked.
In human simulation 330 motor process, the sensing device on automatic driving vehicle 310 is permissibleGather the ambient image around automatic driving vehicle 310 and the ambient image collected is knownNot to judge whether ambient image comprises this human simulation 330.The accuracy of recognition result is with fastSpeed can reflect the identification ability of the sensing device of automatic driving vehicle 310.Fill based on perceptionPut accurate to human simulation, identify rapidly, can as design automatic driving vehicle 310 be expert atThe basis of the pedestrian's avoidance strategy during entering.
Shown in Figure 4, for automatic driving vehicle perception test method one enforcement of the applicationThe indicative flowchart 400 of example.
Specifically, the automatic driving vehicle perception test method of the present embodiment includes:
Step 410, triggers whether device judges the distance between automatic driving vehicle and human simulationReach predeterminable range, the most then send motion triggers signal to human simulation.
Step 420, human simulation moves along desired guiding trajectory in response to receiving motion triggers signal.
Step 430, automatic driving vehicle gathers image in human simulation motor process, and judgesWhether image comprises human simulation.
In some optional implementations, step 410 can further include:
Step 411, triggers the sender unit electromagnetic signals of device, triggers deviceSignal receiving device receive electromagnetic wave signal.
Step 412, if signal receiving device does not receives electromagnetic wave signal, then to emulation Crinis CarbonisatusSend motion triggers signal.
In some optional implementations, the direction of motion of desired guiding trajectory and automatic driving vehicleThe direction of motion identical, contrary or vertical.
In some optional implementations, the automatic driving vehicle perception test side of the present embodimentMethod can further include and includes: configuration device is pre-configured with automatic driving vehicle kinematic parameterKinematic parameter with human simulation.
In some optional implementations, kinematic parameter can include following at least one: fortuneDynamic track, speed and acceleration.
In some optional implementations, the automatic driving vehicle perception test side of the present embodimentMethod can further include and includes: the driving means of human simulation receives the imitative of configuration device transmissionThe kinematic parameter of true man, and kinematic parameter driving simulation people based on human simulation motion.
The automatic driving vehicle perception test method of the present embodiment, can drive nobody more accuratelySail the perception of sensing device (such as image collecting device, image processing apparatus etc.) on vehicleEffect and accuracy provide diversified test condition, for the design of follow-up automatic Pilot algorithmProvide accurate foundation.
Above description is only the preferred embodiment of the application and saying institute's application technology principleBright.It will be appreciated by those skilled in the art that invention scope involved in the application, do not limitIn the technical scheme of the particular combination of above-mentioned technical characteristic, also should contain simultaneously without departing fromIn the case of described inventive concept, above-mentioned technical characteristic or its equivalent feature carry out combination in anyAnd other technical scheme formed.Such as features described above and (but not limited to) disclosed hereinThe technical characteristic with similar functions is replaced mutually and the technical scheme that formed.