1. An integrated sensor point inspection method for offline point inspection of a sensor of an automatic driving automobile is characterized by comprising the following steps:

s1: clicking a sensor point inspection control of a corresponding type on a sensor point inspection system interface, and calling a point inspection script aiming at the type of sensor points to perform offline point inspection on the corresponding sensor, wherein the point inspection script comprises an ROS (reactive oxygen species) command for performing point inspection on the type of sensor;

s2: receiving the ROS data stream returned by the type of sensor aiming at the ROS command from the vehicle, carrying out corresponding display processing on the ROS data stream, and displaying the dynamic point inspection result in real time;

s3: and generating a point inspection report, and storing the point inspection report in a server.

2. The integrated sensor spot inspection method according to claim 1, further comprising, before step S1, creating spot inspection scripts for different types of sensors in advance, and integrating multiple types of sensor spot inspection scripts in the sensor spot inspection system.

3. The integrated sensor spot inspection method according to claim 1, wherein a vehicle type selection control is performed before step S1, the sensor spot inspection system generates a spot inspection interface corresponding to the vehicle type according to the selected vehicle type, and the spot inspection interface corresponding to the vehicle type is determined by the sensor configuration of the vehicle type.

4. The integrated sensor spot inspection method according to claim 1, wherein the spot inspection object sensor comprises a radar laser radar and/or a millimeter wave radar and/or an ultrasonic radar and/or a camera and/or a combined inertial navigation, and the sensor spot inspection system interface further displays the point cloud and/or the obstacle ID collected by the radar, the obstacle distance, the obstacle speed and/or the obstacle distance and/or the image collected by the camera and/or the position and state information of the vehicle in real time.

5. The integrated sensor spot inspection method according to claim 1, wherein the sensor spot inspection system interface comprises a plurality of sub page tables, and each page is a set of spot inspection controls of the same type of sensor.

6. The integrated sensor spot inspection method according to claim 1, wherein the click sensor spot inspection system is operable in a mobile terminal, and offline spot inspection is performed through the mobile terminal.

7. The utility model provides a system is examined to point that integrates for going off production line point is examined to autopilot car sensor which characterized in that, this system includes: the point inspection control is used for clicking the sensor point inspection control of the corresponding type of the sensor point inspection system interface, calling a point inspection script aiming at the sensor point of the type to carry out offline point inspection on the corresponding sensor, wherein the point inspection script comprises an ROS (reactive oxygen species) command aiming at the sensor point of the type to carry out point inspection; the display unit is used for receiving the ROS data stream returned by the type of sensor aiming at the ROS command from the vehicle, carrying out corresponding display processing on the ROS data stream and displaying the dynamic point inspection result in real time; and the report generating unit is used for generating a point inspection report and storing the point inspection report in the server.

8. The integrated sensor point inspection system of claim 7, wherein the point inspection object sensor comprises a radar and/or a camera, and the sensor point inspection system interface further displays the point cloud collected by the radar and/or the image collected by the camera in real time.

9. The integrated sensor spot inspection system of claim 7, wherein the sensor spot inspection system interface comprises a plurality of sub page tables, each page being a collection of spot inspection controls for the same type of sensor.

10. A computer-readable storage medium, in which a computer program is stored which is for execution by a processor of a system to carry out the method according to any one of claims 1-6.

Background

In recent years, with the rise of automatic driving, automatic driving vehicles are developed more and more, automatic driving sensors on the vehicles are also more and more, therefore, when the vehicles get off the line, the vehicles which get off the line need to be electrically checked, the sensors of the automatic driving of the vehicles which get off the line are confirmed to be normal in function, and the sensors can normally communicate with an automatic driving controller, so that the vehicles can be put into the market safely for deployment and operation.

At present, the automatic driving controller is developed and completed under an ROS system, so that point inspection of each sensor is required to be carried out under the ROS system, the characteristics of different sensors of different vehicle types are different, the point inspection of each sensor is different, and the work difficulty is increased for offline point inspection.

In the point inspection mode in the prior art, the relative ROS command is manually input through a notebook computer, and an expected result is confirmed to be obtained, so that whether the sensor communication and the parts are abnormal or not can be confirmed.

However, manual instruction input work is tedious, time is consumed under the condition that a plurality of vehicles are off-line, the spot inspection work load is very large, and due to the fact that the ROS instruction is manually input, the returned ROS data stream is also the ROS data stream, an interface is not generated, corresponding real-time dynamic spot inspection results cannot be seen visually, and the judgment of the functional spot inspection results is greatly influenced. For example, the laser radar cannot see the point cloud of the corresponding position, and cannot confirm whether the installation position is correct or not; the camera cannot see the image, and whether the imaging quality of the camera and the like have problems cannot be confirmed.

Disclosure of Invention

The embodiment of the invention provides an integrated sensor point inspection method, system and storage medium for offline point inspection of a sensor of an automatic driving vehicle. The technical scheme is as follows:

an integrated sensor point inspection method for offline point inspection of an automatic driving automobile sensor, comprising the following steps:

s1: clicking a sensor point detection control of a corresponding type on an offline point detection system interface of an automatic driving automobile sensor, so as to call a point detection script aiming at the type of sensor point to perform offline point detection on the corresponding sensor, wherein the script contains an ROS (reactive oxygen species) command aiming at the type of sensor to perform point detection;

s2: receiving the ROS data stream returned by the sensor aiming at the ROS command from the vehicle, carrying out corresponding display processing on the ROS data stream, and displaying the dynamic point inspection result in real time;

s3: and generating a spot check report, and storing the report in a server in a table form.

The invention also discloses an integrated point inspection system for the offline point inspection of the sensor of the automatic driving automobile, which comprises the following steps:

the point inspection control is used for calling a point inspection script aiming at the type of sensor point to perform offline point inspection on the corresponding sensor when a user clicks the point inspection control of the corresponding type of sensor point inspection on the offline point inspection system interface of the automatic driving automobile sensor, and the script contains an ROS (reactive oxygen species) command aiming at the type of sensor to perform point inspection;

the display unit is used for receiving the ROS data stream returned by the sensor aiming at the ROS command from the vehicle, carrying out corresponding display processing on the ROS data stream and displaying the dynamic point inspection result in real time;

and the report generating unit is used for generating a spot check report and storing the report in a server in a table form.

The method integrates a plurality of sensor point inspection scripts of the vehicle into an integrated point inspection system by scripted ROS commands aiming at offline point inspection of the sensors, a user can finish point inspection of the specified sensors by simply clicking, and the displayed result comprises point cloud and/or obstacle ID (identity) acquired by a radar, obstacle distance, obstacle speed and/or image acquired by a camera and/or position and state information of the vehicle is displayed in real time, so that the user is helped to accurately judge whether the point inspection result is normal or not. The integrated point inspection system can be executed in the mobile terminal, and the convenience of point inspection is further improved. Through the steps, the workload of the point inspection staff is reduced, the working time of the point inspection staff is shortened, and the labor cost and unnecessary economic expenditure caused by manpower are saved; through the steps, the point inspection condition of the corresponding vehicle can be traced at any time, and help is provided for problem analysis of the after-sales vehicle.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a system diagram of an integrated sensor spot inspection system according to the present invention;

FIG. 2 is a schematic view of an autopilot sensor configured for use with a prior art autopilot vehicle;

FIG. 3 is a schematic diagram of a prior art autopilot sensor spot check system;

FIG. 4 is an exemplary diagram of an exemplary integrated sensor point inspection system interface according to the present invention;

FIG. 5 is an exemplary diagram of an exemplary integrated sensor point inspection system interface according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in detail with reference to the accompanying drawings.

Fig. 2, as shown in fig. 2 and 3, is a schematic representation of an autopilot sensor configured for use in an autopilot vehicle according to the prior art. Fig. 3 is a diagram of an offline point inspection system for an automatic driving sensor in the prior art, which utilizes a notebook computer to manually input relevant ROS commands to perform one-by-one testing, and the testing mode has low efficiency, large workload of point inspection, no interface generation, inability to visually see corresponding real-time dynamic point inspection results, and inaccurate judgment of point inspection results.

The structure of the offline point inspection system is shown in figure 1:

the upper computer is in communication connection with an automatic driving controller of the vehicle, and the communication connection mode can be a network cable, an industrial bus, a wireless communication connection mode and the like which are common in the field, and the invention is not limited. The offline point inspection system is installed in an upper computer tool, and a user performs point inspection testing on the sensor through an HMI (Human Machine Interface) of the offline point inspection system. The automatic controller and various sensors of the vehicle are communicatively connected using a vehicle internal network.

Sensors that require point inspection for autonomous vehicles typically include laser radars, cameras, millimeter wave radars, ultrasonic radars, inertial navigation, and the like.

The invention discloses an integrated sensor point inspection method for offline point inspection of an automatic driving automobile sensor, which comprises the following steps:

s1: clicking a sensor point detection control of a corresponding type on an offline point detection system interface of an automatic driving automobile sensor, so as to call a point detection script aiming at the type of sensor point to perform offline point detection on the corresponding sensor, wherein the script contains an ROS (reactive oxygen species) command aiming at the type of sensor to perform point detection;

s2: receiving the ROS data stream returned by the sensor aiming at the ROS command from the vehicle, carrying out corresponding display processing on the ROS data stream, and displaying the dynamic point inspection result in real time;

s3: and generating a spot check report, and storing the report in a server in a table form.

Before step S1, creating a spot check script for different sensors in advance, where the script contains an ROS command for performing spot check for the type of sensor;

the offline point inspection system for the sensors of the automatic driving automobile can preset corresponding scripts and controls aiming at all sensors of the automobile needing offline point inspection, and of course, the corresponding scripts and controls can also be only set aiming at some sensors of corresponding types with a large number in the automobile.

The offline point inspection system of the automatic driving automobile sensor is provided with a corresponding display control, and a point inspection result is displayed in real time.

In the spot inspection result display aiming at the laser radar, the states of hardware and software are displayed, and the point cloud collected by the specified laser radar is displayed. Similarly, in the detection of the camera, not only the hardware and software states of the camera are displayed, but also the collected image returned by the camera is displayed so as to observe the image quality.

In the embodiment of the invention, in order to quickly perform offline point inspection on the sensors of the vehicle, the point inspection controls of the sensors of the same type of the vehicle can be intensively displayed in the same display area, so that the point inspection can be intensively performed on the sensors of the same type of the vehicle.

In an embodiment of the invention, the point detection controls for different types of sensors are displayed in different test pages.

In another preferred scheme, the offline point inspection system for the sensor of the automatic driving automobile further comprises a vehicle type selection control, and before the corresponding point inspection interface is generated, different vehicle types are selected by clicking, so that the configuration conditions of the sensor of different vehicle types can be acquired, and the corresponding offline point inspection interface for the sensor of the vehicle type is generated.

In another preferred scheme, the offline point inspection system can be operated in handheld equipment, so that the expansibility of the point inspection system is increased; the interfaced upper computer software can be transplanted into the handheld device, so that the test convenience is improved.

The following presents a detailed description of the invention in terms of an illustrative embodiment:

the method comprises the following steps: the sensor configuration conditions of different vehicle types can be obtained by clicking to select to enter different vehicle types, and as shown in the following figure, after entering a certain vehicle type, the configuration of various sensors displayed on the vehicle is displayed on a corresponding display interface.

4-5, FIGS. 4-5 illustrate an exemplary interface wherein upon entering the drop-off checkup interface for a corresponding vehicle type, the checkup system displays all of the sensors of the vehicle that require drop-off checkup after determining the vehicle type. The method comprises the steps of clicking different sub-page table labels according to offline point detection sub-page tables of sensors of different manufacturers and types, entering an offline point detection interface of the sensor of the corresponding manufacturer and type, displaying keys of a plurality of sensors of the manufacturer and type corresponding to a vehicle in a specific sub-page interface, wherein each key corresponds to one sensor, as shown in fig. 4, respectively displaying controls of 5 laser radar sensors used by the vehicle in the corresponding laser radar offline point detection sub-page table, clicking the corresponding control, namely calling a corresponding ROS command to perform offline point detection on the sensor, and displaying a point detection result in a display area corresponding to the sub-page table;

in another embodiment, only one control may be set for one manufacturer and multiple sensors of the same type, and when the control is clicked, offline spot inspection of the sensors of the same type of the manufacturer may be sequentially performed on the multiple sensors of the same type of the manufacturer at the same time or sequentially, and a spot inspection result may be simultaneously displayed in a corresponding display area, or only information of the sensors that are not qualified in spot inspection is displayed.

In another embodiment, after the corresponding sensor control is selected, a corresponding sensor configuration information display area is also provided;

step two: clicking a corresponding sensor can enter a specific display interface of the corresponding sensor, the distribution condition of the sensor in a vehicle type can be displayed under the interface, and meanwhile, clicking a certain sensor can display information corresponding to the sensor and relevant to functions according to the characteristics of the sensor, for example, a laser radar can display corresponding point cloud information; the camera can display corresponding image video information; the millimeter wave radar displays the ID of the obstacle, the distance of the obstacle and the speed of the obstacle; the ultrasonic radar can display the distance of the obstacle; inertial navigation displays vehicle position coordinates, attitude information, and the like.

In the spot inspection result display aiming at the laser radar, the states of hardware and software are displayed, and the point cloud collected by the specified laser radar is displayed. The millimeter wave radar displays the ID of the obstacle, the distance of the obstacle and the speed of the obstacle; the ultrasonic radar can display the distance of the obstacle; inertial navigation displays vehicle position coordinates, attitude information, and the like. Similarly, in the detection of the camera, not only the hardware and software states of the camera are displayed, but also the collected image returned by the camera is displayed so as to observe the image quality.

Step three: after all the sensors are checked, a corresponding button can be clicked to automatically generate a check report, and the report can be stored in a server in a table form. And the judgment basis is used as the judgment basis for judging whether the vehicle can be normally off-line.

The invention also discloses an integrated point inspection system for the offline point inspection of the sensor of the automatic driving automobile, which comprises the following steps:

the point inspection control is used for calling a point inspection script aiming at the type of sensor point to perform offline point inspection on the corresponding sensor when a user clicks the point inspection control of the corresponding type of sensor point inspection on the offline point inspection system interface of the automatic driving automobile sensor, and the script contains an ROS (reactive oxygen species) command aiming at the type of sensor to perform point inspection;

the display unit is used for receiving the ROS data stream returned by the sensor aiming at the ROS command from the vehicle, carrying out corresponding display processing on the ROS data stream and displaying the dynamic point inspection result in real time;

and the report generating unit is used for generating a spot check report and storing the report in a server in a table form.

The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored in the storage medium and used for being executed by a processor so as to realize the intelligent display method for the driving route and the stop of the intelligent driving automobile.

The above description is only exemplary of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.