# US 12,183,128 B2 · Testing method for automated driving system, electronic device and storage medium

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- Number: US 12,183,128 B2
- Document ID: US12183128B2
- Status: Granted
- Kind: B2
- Application number: 17/342,207
- Filed: 2021-06-08
- Published: 2021-09-23
- Granted: 2024-12-31
- Earliest claimed: 2020-12-17
- Assignees: Beijing Baidu Netcom Science Technology Co., Ltd.
- Applicants: Beijing Baidu Netcom Science and Technology Co., LTD.
- Inventors: Xi Feng
- Web page: https://patentgrep.com/patent/US12183128B2

## CPC

- G01M 17/06: Steering behaviour; Rolling behaviour
- G07C 5/04: using counting means or digital clocks
- G05D 1/00: 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)
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G06F 11/3688: {for test execution, e.g. scheduling of test suites}
- G06F 16/2477: {Temporal data queries}
- G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## 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.

## Claims

### Claim 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.

### Claim 2 (depends on 1)

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

### Claim 3 (depends on 2)

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

### Claim 4 (depends on 1)

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

### Claim 5 (depends on 1)

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

### Claim 6 (depends on 1)

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

### Claim 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.

### Claim 8 (depends on 7)

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.

### Claim 9 (depends on 8)

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

### Claim 10 (depends on 7)

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.

### Claim 11 (depends on 7)

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

### Claim 12 (depends on 7)

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

### Claim 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, 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.

### Claim 14 (depends on 13)

The non-transitory computer-readable storage medium of claim 13, wherein the computer instructions are further configured for causing the computer to perform operation of: testing a vehicle-mounted computing platform of a self-driving vehicle by using the test data.

### Claim 15 (depends on 13)

The non-transitory computer-readable storage medium of claim 13, wherein the computer instructions are further configured for causing the computer to perform operation of: testing a vehicle-mounted computing platform of a self-driving vehicle by using the test data.

### Claim 16 (depends on 13)

The non-transitory computer-readable storage medium of claim 13, wherein a header and/or a body of each frame of data contains the timestamp.

### Claim 17 (depends on 13)

The non-transitory computer-readable storage medium of claim 13, wherein a header and/or a body of each frame of data contains the timestamp.