Autonomous vehicle test method, judgment method and device

The invention discloses an autonomous vehicle test method, which comprises the steps of selecting a plurality of positioning points on a driving route of an autonomous vehicle, and determining key moments when the autonomous vehicle passes through the plurality of positioning points, the plurality of key links being located near a traffic intersection; reading log files of corresponding traffic lights according to the plurality of key moments, and determining running states of the traffic lights corresponding to the plurality of key moments; and judging whether the autonomous vehicle violatesa traffic light rule or not according to the running states of the traffic lights corresponding to the plurality of key moments. The invention further provides an autonomous vehicle traffic light abidance condition judgment method and an autonomous vehicle test device. According to the invention, the abidance condition of the autonomous vehicle to the traffic lights can be tested and judged, and the situation that no vide