Testing method and apparatus applicable to driverless vehicle

1. A testing method applicable to a driverless vehicle, the method comprising:

sending, by a terminal, position information to the driverless vehicle, the position information comprising a start position and an end position in a real driving environment;

sending, by the terminal, to the driverless vehicle, environment perception information of a real driving environment of a preset test event corresponding to a preset position in response to determining that a position in the real driving environment corresponding to the driverless vehicle is the preset position, for the driverless vehicle to input the environment perception information of the real driving environment of the preset test event into a functional module of the driverless vehicle, the preset position being a collecting position corresponding to the environment perception information collected at a start of the preset test event in the real driving environment, wherein the environment perception information of the real driving environment of the preset test event sent to the driverless vehicle is pre-collected in the real driving environment of the preset test event;

obtaining output information of the functional module of the driverless vehicle, and

determining whether the functional module of the driverless vehicle is normal based on a comparison result between the output information and preset information corresponding to the functional module of the driverless vehicle.

2. The method according to claim 1 , wherein the environment perception information comprises at least one of: a road condition image of the real driving environment pre-collected during a time period between the start and the end of the preset test event corresponding to the preset position, or laser point cloud data of a laser point cloud of the real driving environment pre-collected during the time period between the start and the end of the preset test event corresponding to the preset position.

3. The method according to claim 2 , wherein the method further comprises:

using the road condition image collected by a camera of the driverless vehicle at a collecting time during the time period as the road condition image in the environment perception information, in response to determining that the driverless vehicle in a manual driving mode driven by a driver travels to the preset position in the real driving environment, and

using a laser point cloud data of a laser point cloud collected by a laser radar at a collecting time during the time period as the laser point cloud data in the environment perception information, in response to determining that the driverless vehicle in a manual driving mode travels to the preset position in the real driving environment.

4. The method according to claim 3 , wherein the functional module comprises an image recognizer, a distance measurer and a driving decisioner, and the preset information corresponding to the functional module comprises: attribute information of an object in a predetermined road condition image corresponding to the image recognizer, a distance between an object corresponding to a predetermined preset test event corresponding to the distance measurer and the driverless vehicle in the manual driving mode, and control information in a preset duration after the driverless vehicle in the manual driving mode corresponding to the driving decisioner travels to the preset position of the real driving environment.

5. The method according to claim 4 , wherein the output information of the functional module comprises the attribute information of the object in the predetermined road condition image output by the image recognizer, the distance between the object corresponding to the preset test event output by the distance measurer and the driverless vehicle, and a driving decision instruction output by the driving decisioner.

6. A testing method applicable to a driverless vehicle, the method comprising:

receiving, by the driverless vehicle, position information sent by a terminal, the position information comprising a start position and an end position of the driverless vehicle in a real driving environment;

sending, to the terminal, a preset position, and receiving environment perception information of a real driving environment of a preset test event corresponding to a preset position returned by the terminal in response to determining that a position in the real driving environment corresponding to the driverless vehicle is the preset position, the preset position being a collecting position corresponding to the environment perception information collected at a start of the preset test event in the real driving environment, wherein the environment perception information of the real driving environment of the preset test event sent to the driverless vehicle is pre-collected in the real driving environment of the preset test event; and

inputting the environment perception information to a functional module of the driverless vehicle to obtain output information of the functional module, and sending the output information to the terminal.

7. A testing apparatus applicable to a driverless vehicle, the apparatus comprising:

at least one processor; and

a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:

sending position information to the driverless vehicle, the position information comprising a start position and an end position in a real driving environment;

sending, by a terminal, to the driverless vehicle, environment perception information of a preset test event corresponding to a preset position in response to determining that a position in the real driving environment corresponding to the driverless vehicle is the preset position, for the driverless vehicle to input the environment perception information into a functional module of the driverless vehicle, the preset position being a collecting position corresponding to the environment perception information collected at a start of the preset test event in the real driving environment, wherein the environment perception information of the real driving environment of the preset test event sent to the driverless vehicle is pre-collected in the real driving environment of the preset test event; and

obtaining output information of the functional module of the driverless vehicle and determining whether the functional module of the driverless vehicle is normal based on a comparison result between the output information and preset information corresponding to the functional module.

8. The apparatus according to claim 7 , wherein the environment perception information comprises at least one of: a road condition image of the real driving environment pre-collected during a time period between the start and the end of the preset test event corresponding to the preset position, or laser point cloud data of a laser point cloud of the real driving environment pre-collected during the time period between the start and the end of the preset test event corresponding to the preset position.

9. The apparatus according to claim 8 , wherein the operations further comprise:

using the road condition image collected by a camera of the driverless vehicle at a collecting time during the time period as the road condition image in the environment perception information, when the driverless vehicle in a manual driving mode driven by a driver travels to the preset position in the real driving environment, and

using a laser point cloud data of a laser point cloud collected by a laser radar at a collecting time during the time period as the laser point cloud data in the environment perception information, when the driverless vehicle in a manual driving mode travels to the preset position in the real driving environment.

10. The apparatus according to claim 9 , wherein the functional module comprises an image recognition module, a distance measurement module and a driving decision module, the preset information corresponding to the functional module comprises: attribute information of an object in a predetermined road condition image corresponding to the image recognition module, a distance between an object corresponding to a predetermined preset test event corresponding to the distance measurement module and the driverless vehicle in the manual driving mode, and control information in a preset duration after the driverless vehicle in the manual driving mode corresponding to the driving decision module travels to the preset position of the real driving environment.

11. The apparatus according to claim 10 , wherein the output information of the functional module comprises the attribute information of the object in the predetermined road condition image output by the image recognition module, the distance between the object corresponding to the preset test event output by the distance measurement module and the driverless vehicle, and a driving decision instruction output by the driving decision module.

12. A testing apparatus applicable to a driverless vehicle, the apparatus comprising:

at least one processor; and

a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:

receiving, by the driverless vehicle, position information sent by a terminal, the position information comprising a start position and an end position of the driverless vehicle in a real driving environment;

sending, to the terminal, a preset position, and receive environment perception information of a preset test event corresponding to a preset position returned by the terminal in response to determining that a position in the real driving environment corresponding to the driverless vehicle is the preset position, the preset position being a collecting position corresponding to the environment perception information collected at a start of the preset test event in the real driving environment, wherein the environment perception information of the real driving environment of the preset test event sent to the driverless vehicle is pre-collected in the real driving environment of the preset test event; and

inputting the environment perception information to a functional module of the driverless vehicle to obtain output information of the functional module, and sending the output information to the terminal.