CN113092135A - Test method, device and equipment for automatically driving vehicle - Google Patents
Test method, device and equipment for automatically driving vehicle Download PDFInfo
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- CN113092135A CN113092135A CN202110399959.7A CN202110399959A CN113092135A CN 113092135 A CN113092135 A CN 113092135A CN 202110399959 A CN202110399959 A CN 202110399959A CN 113092135 A CN113092135 A CN 113092135A
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Abstract
The embodiment of the application discloses a method, a device and equipment for testing an automatic driving vehicle, which are applied to the technical field of automatic driving and used for improving the safety and accuracy of a test result. The method comprises the following steps: the method comprises the steps of firstly determining a target vehicle to be tested and a real closed test scene in a preset range, then receiving simulation data sent by a cloud server, wherein the simulation data are generated by the cloud server according to the preset simulation scene, and then carrying out AR test on the target vehicle by utilizing the simulation data in the real closed test scene in the preset range to obtain a test result. Therefore, the target vehicle is subjected to the AR test in the real closed test scene by using the cloud simulation data, so that the target vehicle cannot distinguish whether the environment where the target vehicle is located is real or the AR test scene, the accuracy of the test result can be improved through a test mode combining the real scene and the simulation data, and the safety of the test process is ensured.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a method, a device and equipment for testing an automatic driving vehicle.
Background
With continuous progress of high and new technologies such as cloud computing, artificial intelligence, information fusion, communication and automatic control, the future development speed of the automatic driving vehicle is accelerated, and meanwhile, the acceptance and demand of people on the automatic driving vehicle are gradually improved. Moreover, with the continuous development and improvement of the technology of the automatic driving vehicle, how to accurately and scientifically test the overall performance of the automatic driving vehicle is also very important.
Currently, there are two general types of existing testing methods for autonomous vehicles: one is a method for testing by utilizing pure simulation environment, although the method can simulate the interferents such as people, bicycles, automobiles and the like through simulation equipment, simulate the operations such as sudden escape, overtaking, deceleration, sudden braking, doubling, turning and the like, so as to test whether the automatic driving vehicle can make safe automatic operation behaviors such as braking, vehicle speed control, direction control, obstacle avoidance and the like, when the method is adopted for testing, the method depends on pure simulation data, the testing basis is not true enough, and the accuracy of the testing result is not high; the other common test method is an on-road test, which is based on real data and has high accuracy of test results, but the method has the disadvantages that the safety is not guaranteed, the change of different parts of the whole vehicle (such as the situation of replacing any number of parts) cannot be tested in time, and the test results are not ideal enough.
Disclosure of Invention
The embodiment of the application mainly aims to provide a method, a device and equipment for testing an automatic driving vehicle, which are beneficial to overcoming the defects of the existing automatic driving vehicle testing method and improving the safety and accuracy of a testing result.
The embodiment of the application provides a test method of an automatic driving vehicle, which comprises the following steps:
determining a target vehicle to be tested and a real closed test scene in a preset range;
receiving simulation data sent by a cloud server, wherein the simulation data are generated by the cloud server according to a preset simulation scene;
and in the real closed test scene in the preset range, carrying out augmented reality AR test on the target vehicle by using the simulation data to obtain a test result.
Optionally, the target vehicle includes an on-vehicle 5G communication system; before the receiving the simulation data sent by the cloud server, the method further includes:
establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the receiving of the simulation data sent by the cloud server includes:
and receiving the simulation data sent by the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
Optionally, the method further includes:
acquiring scene data of the real closed test scene, and generating augmented reality data by using the scene data and the simulation data;
in the real airtight test scene in the preset range, performing augmented reality AR test on the target vehicle by using the simulation data to obtain a test result, including:
and in the real closed test scene in the preset range, carrying out augmented reality AR test on the target vehicle by using the augmented reality data to obtain a test result.
Optionally, the simulation data includes simulation environment data and simulation operation parameters of the target vehicle.
The embodiment of the present application further provides a testing apparatus for an autonomous driving vehicle, including:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for determining a target vehicle to be tested and a real closed test scene in a preset range;
the cloud server comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving simulation data sent by the cloud server, and the simulation data is generated by the cloud server according to a preset simulation scene;
and the test unit is used for carrying out augmented reality AR test on the target vehicle by utilizing the simulation data in the real closed test scene in the preset range to obtain a test result.
Optionally, the target vehicle includes an on-vehicle 5G communication system; the device further comprises:
the establishing unit is used for establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the receiving unit is specifically configured to:
and receiving the simulation data sent by the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
Optionally, the apparatus further comprises:
the second acquisition unit is used for acquiring scene data of the real closed test scene and generating augmented reality data by using the scene data and the simulation data;
the test unit is specifically configured to:
and in the real closed test scene in the preset range, carrying out augmented reality AR test on the target vehicle by using the augmented reality data to obtain a test result.
Optionally, the simulation data includes simulation environment data and simulation operation parameters of the target vehicle.
The embodiment of the present application further provides a test device for an autonomous driving vehicle, including: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is configured to store one or more programs, the one or more programs including instructions, which when executed by the processor, cause the processor to perform any one implementation of the above-described method of testing an autonomous vehicle.
An embodiment of the present application further provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the terminal device is enabled to execute any implementation manner of the above test method for an autonomous vehicle.
When the automatic driving vehicle is tested, the target vehicle to be tested and a real airtight test scene in a preset range are determined at first, then, simulation data sent by the cloud server are received, wherein the simulation data are generated by the cloud server according to the preset simulation scene, and then, in the real airtight test scene in the preset range, augmented reality AR (augmented reality) test is performed on the target vehicle by utilizing the simulation data to obtain a test result. Therefore, the target vehicle is subjected to the AR test in the real closed test scene by using the cloud simulation data, so that the target vehicle cannot distinguish whether the environment where the target vehicle is located is real or the test scene of AR is augmented, the accuracy of the test result can be improved by using the test mode of combining the real scene with the simulation data, and the safety of the target vehicle in the test process is ensured.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are 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 schematic flow chart illustrating a method for testing an autonomous vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic composition diagram of a testing apparatus for an autonomous vehicle according to an embodiment of the present disclosure.
Detailed Description
In some existing test methods for autonomous vehicles, the following two test methods are generally used: one is a method for testing by utilizing pure simulation environment, although the method can simulate the interferents such as people, bicycles, automobiles and the like through simulation equipment, simulate the operations such as sudden escape, overtaking, deceleration, sudden braking, doubling, turning and the like, so as to test whether the automatic driving vehicle can make safe automatic operation behaviors such as braking, vehicle speed control, direction control, obstacle avoidance and the like, when the method is adopted for testing, the method depends on pure simulation data, the testing basis is not true enough, and the accuracy of the testing result is not high; the other method is a way-to-go test method, which is based on real data, so that the accuracy of the test result is higher, but the method has the disadvantages that the safety is not ensured, the change of different parts of the whole vehicle (such as the situation of replacing any number of parts) cannot be tested in time, and the test result is not ideal enough. Therefore, how to overcome the disadvantages of the two testing methods and improve the safety and accuracy of the testing result is a problem to be solved urgently.
In order to solve the above defects, an embodiment of the present application provides a method for testing an autonomous vehicle, where when testing the autonomous vehicle, a target vehicle to be tested and a real closed test scenario in a preset range are determined, then simulation data sent by a cloud server are received, where the simulation data are generated by the cloud server according to the preset simulation scenario, and then, in the real closed test scenario in the preset range, an augmented reality AR test is performed on the target vehicle by using the simulation data to obtain a test result. Therefore, the target vehicle is subjected to the AR test in the real closed test scene by using the cloud simulation data, so that the target vehicle cannot distinguish whether the environment where the target vehicle is located is real or the test scene of AR is augmented, the accuracy of the test result can be improved by using the test mode of combining the real scene with the simulation data, and the safety of the target vehicle in the test process is ensured.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
First embodiment
Referring to fig. 1, a flow chart of a testing method for an autonomous vehicle provided in this embodiment is schematically illustrated, where the method includes the following steps:
s101: and determining a target vehicle to be tested and a real closed test scene in a preset range.
In the present embodiment, any of the autonomous vehicles tested with the present embodiment is defined as a target vehicle. When testing the target vehicle, in order to improve the security of the obtained test result, after determining the target vehicle to be tested, a real closed test scenario in a preset range needs to be determined to execute the subsequent step S103.
The real airtight test scene in the preset range refers to a real airtight test site in a certain preset range. And the specific range value can be set according to the actual situation, and the embodiment of the application does not limit the actual range value, for example, the real airtight test scene of the preset range can be a real airtight test site with the preset floor area of 1 ten thousand square meters, and is specially used for testing the whole vehicle performance of the automatic driving vehicle. In addition, in order to improve the test accuracy, various automatic driving test scenes can be set in the test site, including a test for the motion control performance of the automatic driving vehicle, a test for the road traffic capacity of the automatic driving vehicle, a test for the traffic capacity of the intersection of the automatic driving vehicle, a test for the collision avoidance capacity of the automatic driving vehicle and the like. For example, different obstacles such as stones and wooden piles can be arranged in the test site to test the obstacle avoidance capability of the target vehicle.
S102: and receiving simulation data sent by the cloud server, wherein the simulation data is generated by the cloud server according to a preset simulation scene.
In this embodiment, in order to improve the accuracy of the test result, after the target vehicle to be tested is determined in step S101, not only the real closed test scene in the preset range needs to be determined, but also the simulation data sent by the cloud server needs to be received to execute the subsequent step S103.
The simulation data is generated by the cloud server according to a preset simulation scene, and may include simulation environment data (such as simulated road parameters, weather parameters, and the like) and simulation operation parameters of the target vehicle (such as forward driving parameters, steering parameters, reverse driving parameters, and the like of the target vehicle in the simulation process). For example, if an obstacle, which is a stake, exists at a road edge in a preset simulation scene, in the simulation process of the cloud server, the target vehicle may detect the obstacle while driving, and may generate corresponding simulation sensor data (such as laser point cloud data) as simulation data. It should be noted that the other simulation environment data and the simulation operation parameters of the target vehicle are not illustrated here.
In a possible implementation manner of the embodiment of the present application, based on rapid development of a current fifth generation mobile communication technology (5G technology for short), in order to further ensure low latency and high storage of transmission of simulation data, a 5G communication system (the vehicle-mounted 5G communication system has a high-speed and low-latency 5G mobile communication capability) may be installed in a target vehicle in advance as a vehicle-mounted controller, and a communication connection channel is established between the vehicle-mounted 5G communication system and a cloud server. On this basis, the step S102 of "receiving the simulation data sent by the cloud server" may specifically include: and receiving the simulation data sent by the cloud server through the communication connection channel by using the vehicle-mounted 5G communication system.
Of these, the 5G technology is the latest generation cellular mobile communication technology, and is also an extension following 4G (LTE-A, WiMax), 3G (UMTS, LTE), and 2G (gsm) systems. The performance goals of 5G are high data rates, reduced latency, energy savings, reduced cost, increased system capacity, and large-scale device connectivity.
Networking and intellectualization of the current automatic driving vehicle are also development directions and targets in the future. The networking refers to a vehicle networking technology, and includes but is not limited to a vehicle-mounted entertainment system, voice and somatosensory interaction, mobile payment and the like. While intellectualization refers to intelligent driving, driving assistance and the highest-stage unmanned technology. Networking and intellectualization rely more on high-speed network technologies, and thus 5G is the best choice for realizing high-speed network technologies on which networking and intellectualization of vehicles rely.
Therefore, in this implementation manner, in order to ensure low latency and high storage of transmission of simulation data for the target vehicle, a 5G communication system (such as an on-board 5G communication terminal or a controller) with high-speed and low latency 5G mobile communication capability may be installed in the target vehicle, and then the on-board 5G communication system is used to quickly receive the simulation data sent by the cloud server through a pre-established 5G communication connection channel by using a 5G network, so as to implement accurate test on the target vehicle by performing the subsequent step S103.
S103: and in a real closed test scene in a preset range, carrying out augmented reality AR test on the target vehicle by using the simulation data to obtain a test result.
In this embodiment, after the target vehicle to be tested and the real closed test scenario in the preset range are determined through step S101, and the simulation data sent by the cloud server is received through step S102, an Augmented Reality (AR) test may be further performed on the target vehicle by using the received simulation data in the real closed test scenario in the preset range, so as to obtain a test result. Therefore, by combining the simulation environment with the real environment, the defects of test data in the real environment and the defects of test data authenticity in the pure simulation environment are fully made up, the accuracy of the test result is greatly improved, and meanwhile, the safety of the target vehicle in the test process is also ensured due to the fact that the test is carried out in the real closed test scene.
In addition, in a possible implementation manner of the embodiment of the application, in order to further improve the accuracy of the test result, scene data of a real closed test scene may be acquired, and augmented reality data may be generated by using the scene data and the simulation data. On this basis, the implementation process of step S103 may specifically include: and in a real closed test scene in a preset range, performing augmented reality AR test on the target vehicle by using the augmented reality data to obtain a test result.
Specifically, in the present implementation, scene data (such as an ambient temperature, a vehicle driving position, and the like) of a real closed test scene may be acquired through an in-vehicle sensor. And then, combining the acquired scene data with the simulation data sent by the cloud server to generate augmented reality data, performing AR test on the target vehicle in a real closed test scene in a preset range by using the augmented reality data to obtain the response of the target vehicle to the test scene in the AR scene, and determining the test result of the whole vehicle performance (such as visual perception capability, obstacle avoidance capability and the like) of the target vehicle according to the obtained response result of the target vehicle.
For example, the following steps are carried out: take the example of testing the ability of a target vehicle to pass through a complex intersection. Firstly, sensors such as a GPS and a high-precision IMU can be arranged on a target vehicle to acquire vehicle operation data, and the position and the posture of the target vehicle are estimated. Then, when the target vehicle approaches the intersection and enters the augmented reality area, the data are collected in real time through the vehicle-mounted sensor, and the augmented reality scene and the augmented reality data therein are generated through the virtual simulation data obtained in advance, such as intersection traffic light configuration, virtual human body model and motion trail configuration, virtual non-motor vehicle model and motion trail configuration, virtual motor vehicle motion model and motion trail configuration, so that in the augmented reality scene, the augmented reality data are utilized to carry out AR test on the target vehicle, and the response of the target vehicle to the augmented reality scene is obtained. Then, whether the target vehicle interferes with a virtual preset model in augmented reality or not can be judged according to the GPS data, IMU data and augmented reality preset configuration data of the target vehicle, so that the capability of the target vehicle passing through a complex intersection is tested, namely, a test result is obtained.
Therefore, the safety and the accuracy of the test result can be further improved by the test mode of combining the simulation environment with the real environment. Moreover, when one or more different parts on the vehicle are changed, the parts can be tested in time and pertinently by the mode, so that the testing efficiency and the accuracy and the safety of the testing result are improved.
In summary, according to the testing method for the autonomous vehicle provided in this embodiment, when testing the autonomous vehicle, first, a target vehicle to be tested and a real closed testing scenario in a preset range are determined, then, simulation data sent by the cloud server are received, where the simulation data are generated by the cloud server according to the preset simulation scenario, and then, in the real closed testing scenario in the preset range, the simulation data are utilized to perform an augmented reality AR test on the target vehicle, so as to obtain a testing result. Therefore, the target vehicle is subjected to the AR test in the real closed test scene by using the cloud simulation data, so that the target vehicle cannot distinguish whether the environment where the target vehicle is located is real or the test scene of AR is augmented, the accuracy of the test result can be improved by using the test mode of combining the real scene with the simulation data, and the safety of the target vehicle in the test process is ensured.
Second embodiment
The present embodiment will be described with reference to the above method embodiments for a testing device of an autonomous vehicle.
Referring to fig. 2, a schematic composition diagram of a testing apparatus for an autonomous vehicle provided in this embodiment is shown, where the apparatus includes:
the first obtaining unit 201 is configured to determine a target vehicle to be tested and a real closed test scene in a preset range;
the receiving unit 202 is configured to receive simulation data sent by a cloud server, where the simulation data is generated by the cloud server according to a preset simulation scenario;
and the test unit 203 is configured to perform an Augmented Reality (AR) test on the target vehicle by using the simulation data in the real closed test scene in the preset range to obtain a test result.
In one implementation of this embodiment, the target vehicle includes an onboard 5G communication system; the device further comprises:
the establishing unit is used for establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the receiving unit 202 is specifically configured to:
and receiving the simulation data sent by the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
In an implementation manner of this embodiment, the apparatus further includes:
the second acquisition unit is used for acquiring scene data of the real closed test scene and generating augmented reality data by using the scene data and the simulation data;
the test unit 203 is specifically configured to:
and in the real closed test scene in the preset range, carrying out augmented reality AR test on the target vehicle by using the augmented reality data to obtain a test result.
In one implementation of this embodiment, the simulation data includes simulation environment data and simulation operating parameters of the target vehicle.
In summary, according to the testing apparatus for the autonomous vehicle provided by this embodiment, when testing the autonomous vehicle, first, a target vehicle to be tested and a real closed testing scenario within a preset range are determined, then, simulation data sent by the cloud server are received, where the simulation data are generated by the cloud server according to the preset simulation scenario, and then, in the real closed testing scenario within the preset range, the simulation data are utilized to perform an augmented reality AR test on the target vehicle, so as to obtain a testing result. Therefore, the target vehicle is subjected to the AR test in the real closed test scene by using the cloud simulation data, so that the target vehicle cannot distinguish whether the environment where the target vehicle is located is real or the test scene of AR is augmented, the accuracy of the test result can be improved by using the test mode of combining the real scene with the simulation data, and the safety of the target vehicle in the test process is ensured.
Further, the embodiment of the present application also provides a test device for an autonomous vehicle, including: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is configured to store one or more programs, the one or more programs including instructions, which when executed by the processor, cause the processor to perform any of the implementations of the method for testing an autonomous vehicle described above.
Further, an embodiment of the present application also provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the instructions cause the terminal device to execute any implementation method of the above test method for an autonomous driving vehicle.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of testing an autonomous vehicle, comprising:
determining a target vehicle to be tested and a real closed test scene in a preset range;
receiving simulation data sent by a cloud server, wherein the simulation data are generated by the cloud server according to a preset simulation scene;
and in the real closed test scene in the preset range, carrying out augmented reality AR test on the target vehicle by using the simulation data to obtain a test result.
2. The method of claim 1, wherein the target vehicle comprises an on-board 5G communication system; before the receiving the simulation data sent by the cloud server, the method further includes:
establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the receiving of the simulation data sent by the cloud server includes:
and receiving the simulation data sent by the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
3. The method of claim 1, further comprising:
acquiring scene data of the real closed test scene, and generating augmented reality data by using the scene data and the simulation data;
in the real airtight test scene in the preset range, performing augmented reality AR test on the target vehicle by using the simulation data to obtain a test result, including:
and in the real closed test scene in the preset range, carrying out augmented reality AR test on the target vehicle by using the augmented reality data to obtain a test result.
4. The method of any one of claims 1 to 3, wherein the simulated data includes simulated environmental data and simulated operating parameters of the target vehicle.
5. A test apparatus for an autonomous vehicle, comprising:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for determining a target vehicle to be tested and a real closed test scene in a preset range;
the cloud server comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving simulation data sent by the cloud server, and the simulation data is generated by the cloud server according to a preset simulation scene;
and the test unit is used for carrying out augmented reality AR test on the target vehicle by utilizing the simulation data in the real closed test scene in the preset range to obtain a test result.
6. The apparatus of claim 5, wherein the target vehicle comprises an on-board 5G communication system; the device further comprises:
the establishing unit is used for establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the receiving unit is specifically configured to:
and receiving the simulation data sent by the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
7. The apparatus of claim 5, further comprising:
the second acquisition unit is used for acquiring scene data of the real closed test scene and generating augmented reality data by using the scene data and the simulation data;
the test unit is specifically configured to:
and in the real closed test scene in the preset range, carrying out augmented reality AR test on the target vehicle by using the augmented reality data to obtain a test result.
8. The apparatus of any of claims 5 to 7, wherein the simulated data comprises simulated environmental data and simulated operating parameters of the target vehicle.
9. A test apparatus for an autonomous vehicle, comprising: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is to store one or more programs, the one or more programs comprising instructions, which when executed by the processor, cause the processor to perform the method of any of claims 1-4.
10. A computer-readable storage medium having stored therein instructions that, when executed on a terminal device, cause the terminal device to perform the method of any one of claims 1-4.
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| CN109696915A (en) * | 2019-01-07 | 2019-04-30 | 上海托华机器人有限公司 | A kind of test method and system |
| CN111309600A (en) * | 2020-01-21 | 2020-06-19 | 上汽通用汽车有限公司 | Virtual scene injection automatic driving test method and electronic equipment |
| CN112307566A (en) * | 2020-11-12 | 2021-02-02 | 安徽江淮汽车集团股份有限公司 | Vehicle simulation test method, device, equipment and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114280959A (en) * | 2021-12-27 | 2022-04-05 | 招商局检测车辆技术研究院有限公司 | Cloud-ground cooperative whole vehicle field in-loop simulation test system |
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