Testing method for automated driving system, electronic device and storage medium

Patent metadata

Field	Value
Publication number	US-12183128-B2
Application number	US-202117342207-A
Country	US
Kind code	B2
Filing date	Jun 8, 2021
Priority date	Dec 17, 2020
Publication date	Dec 31, 2024
Grant date	Dec 31, 2024

Abstract

A testing method for an automated driving system, an electronic device and a storage medium are provided, and relate to the technical field of artificial intelligence, such as intelligent transportation and automated driving. The method includes: acquiring record data of a sensor device, the record data including a plurality of frames of data collected by the sensor device of a vehicle, each frame of data including a timestamp, and a first frame and a last frame of the record data corresponding to a same vehicle position; and writing the record data repeatedly to generate test data for testing the automated driving system; and updating the timestamp of each frame of data in the record data in the process of repeated writing, according to a number of times of a current repeated writing and a time duration corresponding to the record data.

First claim

What is claimed is:

1. A testing method for an automated driving system, comprising:
acquiring record data of a sensor device, the record data comprising a plurality of frames of data collected by the sensor device of a vehicle when the vehicle is travelling along a driving route, each frame of data comprising a timestamp, a first frame of the record data corresponding to a starting point of the driving route, and a last frame of the record data corresponding to an end point of the driving route, wherein the starting point and the end point are the same point; and
writing the record data repeatedly to generate test data for testing the automated driving system, wherein the test data comprises a plurality of copies of a same content of the record data; playing a same record data repeatedly for a plurality of times and updating the timestamp of each frame of the newly written data in the process of repeated writing, according to a number of times of a current repeated writing and a time duration corresponding to the record data, to make the timestamps of each frame in the generated test data continuous and position hopping of the vehicle not occur to the generated test data every time one of the plurality of copies starts to be played, wherein the updating the timestamp of each frame of the newly written data in the process of repeated writing, according to the number of times of the current repeated writing and the time duration corresponding to the record data, comprises:
determining first time information corresponding to each frame of data in the record data, according to the timestamp of each frame of data in the record data;
determining elapsed time corresponding to the current repeated writing, according to the number of times of the current repeated writing and the time duration corresponding to the record data; and
obtaining second time information corresponding to each frame of data in the current repeated writing, according to the first time information corresponding to each frame of data and the elapsed time respectively, and determining and updating the timestamp of each frame of the newly written data according to the second time information.

2. The method of claim 1 , further comprising: testing a vehicle-mounted computing platform of a self-driving vehicle by using the test data.

3. The method of claim 2 , wherein a header and/or a body of each frame of data contains the timestamp.

4. The method of claim 1 , further comprising: testing a vehicle-mounted computing platform of a self-driving vehicle by using the test data.

5. The method of claim 1 , wherein a header and/or a body of each frame of data contains the timestamp.

6. The method of claim 1 , wherein a header and/or a body of each frame of data contains the timestamp.

7. An electronic device, comprising:
at least one processor; and
a memory communicatively connected to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform operations of:
acquiring record data of a sensor device, the record data comprising a plurality of frames of data collected by the sensor device of a vehicle when the vehicle is travelling along a driving route, each frame of data comprising a timestamp, a first frame of the record data corresponding to a starting point of the driving route, and a last frame of the record data corresponding to an end point of the driving route, wherein the starting point and the end point are the same point; and
writing the record data repeatedly to generate test data for testing the automated driving system, wherein the test data comprises a plurality of copies of a same content of the record data; playing a same record data repeatedly for a plurality of times and updating the timestamp of each frame of the newly written data in the process of repeated writing, according to a number of times of a current repeated writing and a time duration corresponding to the record data, to make the timestamps of each frame in the generated test data continuous and position hopping of the vehicle not occur to the generated test data every time one of the plurality of copies starts to be played, wherein the updating the timestamp of each frame of the newly written data in the process of repeated writing, according to the number of times of the current repeated writing and the time duration corresponding to the record data, comprises:
determining first time information corresponding to each frame of data in the record data, according to the timestamp of each frame of data in the record data;
determining elapsed time corresponding to the current repeated writing, according to the number of times of the current repeated writing and the time duration corresponding to the record data; and
obtaining second time information corresponding to each frame of data in the current repeated writing, according to the first time information corresponding to each frame of data and the elapsed time respectively, and determining and updating the timestamp of each frame of the newly written data according to the second time information.

8. The electronic device of claim 7 , wherein the instructions are executable by the at least one processor to enable the at least one processor further to perform operation of: testing a vehicle-mounted computing platform of a self-driving vehicle by using the test data.

9. The electronic device of claim 8 , wherein a header and/or a body of each frame of data contains the timestamp.

10. The electronic device of claim 7 , wherein the instructions are executable by the at least one processor to enable the at least one processor further to perform operation of: testing a vehicle-mounted computing platform of a self-driving vehicle by using the test data.

11. The electronic device of claim 7 , wherein a header and/or a body of each frame of data contains the timestamp.

12. The electronic device of claim 7 , wherein a header and/or a body of each frame of data contains the timestamp.

13. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform operations of:
acquiring record data of a sensor device, the record data comprising a plurality of frames of data collected by the sensor device of a vehicle when the vehicle is travelling along a driving route, each frame of data comprising a timestamp, a first frame of the record data corresponding to a starting point of the driving route, and a last frame of the record data corresponding to an end point of the driving route, wherein the starting point and the end point are the same point; and
writing the record data repeatedly to generate test data for testing the automated driving system, wherein the test data comprises a plurality of copies of a same content of the record data; playing a same record data repeatedly for a plurality of times and updating the timestamp of each frame of the newly written data in the process of repeated writing, according to a number of times of a current repeated writing and a time duration corresponding to the record data, to make the timestamps of each frame in the generated test data continuous and position hopping of the vehicle not occur to the generated test data every time one of the plurality of copies starts to be played, wherein the updating the timestamp of each frame of the newly written data in the process of repeated writing, according to the number of times of the current repeated writing and the time duration corresponding to the record data, comprises:
determining first time information corresponding to each frame of data in the record data, a

Assignees

• Beijing Baidu Netcom Sci & Tech Co Ltd

Inventors

• Feng Xi

Classifications

• G05D1/00

  Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) · CPC title

• G06F11/3688

  for test execution, e.g. scheduling of test suites · CPC title

• G05D1/0212

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• B60Y2400/30

  Sensors · CPC title

• B60W2050/0005

  Processor details or data handling, e.g. memory registers or chip architecture · CPC title