CN114153154A - V2X-based driving scene testing method and system - Google Patents
V2X-based driving scene testing method and system Download PDFInfo
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- CN114153154A CN114153154A CN202111265294.7A CN202111265294A CN114153154A CN 114153154 A CN114153154 A CN 114153154A CN 202111265294 A CN202111265294 A CN 202111265294A CN 114153154 A CN114153154 A CN 114153154A
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Abstract
The invention provides a driving scene testing method and system based on V2X, wherein the method comprises the following steps: the vehicle road simulation equipment responds to the received vehicle control simulation signal sent by the simulated driver to generate vehicle data and sends the vehicle data to the equipment to be tested; the vehicle road simulation equipment sends the currently simulated road condition information to the equipment to be tested based on V2X; the vehicle road simulation equipment sends the currently simulated target object interaction message to the equipment to be tested based on V2X; the equipment to be tested performs scene operation according to the received vehicle data, the target object interaction message and the road condition message, and sends a scene operation result to the vehicle path simulation equipment; the vehicle road simulation equipment displays a scene operation result, and carries out risk assessment based on the displayed scene operation result so as to complete the test of the equipment to be tested in a corresponding test scene; the invention can effectively ensure the fidelity to the real scene, is not limited by a closed test field and improves the test efficiency.
Description
Technical Field
The invention relates to the technical field of automobile scene simulation, in particular to a driving scene testing method and system based on V2X.
Background
Economic development and technological progress have promoted the automobile industry towards the direction of automation and intellectualization. With the continuous increase of the automobile holding capacity, a series of problems such as traffic accidents, crowding and the like are caused. In order to improve the perception capability of the automobile, enable a driver to plan a route better and avoid a collision accident, the V2X (Vehicle to electric-driving) technology is developed. The V2X technology mainly includes four parts of communication between on-board units (V2V), communication between on-board units and roadside units (V2I), communication between on-board units and pedestrian devices (V2P), and communication between on-board units and networks (V2N). The V2X can perform collision early warning and inform a driver of a crowded area only by acquiring data of other vehicles or traffic facilities, so that accidents such as scraping and collision in the driving process can be reduced as much as possible, and the driving safety is improved. However, since the scene application of the V2X technology is affected by various factors such as the vehicle itself and the external environment, it is necessary to perform quantitative test verification on the V2X function application by adopting test cases corresponding to different scene conditions.
At present, the existing V2X functional application scenario test method mainly comprises software test and actual road test, the software test method mainly uses network simulation software and traffic simulation software to respectively simulate wireless communication and vehicle motion processes, a data closed loop is formed through information interaction between the two types of software, and then V2X functional application efficiency under different scenario conditions is verified, the software test method has the advantages that scenario reproducibility is good, but because a V2X communication protocol is still developing, the network simulation software is relatively lagged in development, and model description of key elements such as a satellite navigation system and a vehicle dynamics system is mostly lacked, so that the approach degree of the method to a real scenario is limited; the actual road testing method mainly means that a simulation scene is built in an actual road environment by using a real vehicle carrying V2X communication device to carry out testing, and the method has the advantages that the real scene testing can accurately reflect functional application efficiency, but a driver is required to carry out vehicle testing on an actual road, a closed testing field with a large space is required to be configured, and the testing efficiency is low.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a driving scenario testing method and system based on V2X, which can effectively ensure the fidelity to a real scenario, and at the same time, is not limited by a closed testing field, and improves the testing efficiency.
In a first aspect, an embodiment of the present invention provides a driving scenario testing method based on V2X, including:
the method comprises the steps that vehicle road simulation equipment responds to a received vehicle control simulation signal sent by a simulation driver to generate vehicle data and sends the vehicle data to equipment to be tested;
the vehicle road simulation equipment sends the currently simulated road condition information to the equipment to be tested based on V2X;
the vehicle road simulation equipment sends the currently simulated target object interaction message to the equipment to be tested based on V2X;
the equipment to be tested performs scene operation according to the received vehicle data, the target object interaction message and the road condition message, and sends a scene operation result to the vehicle path simulation equipment;
and the vehicle road simulation equipment displays the scene operation result and carries out risk assessment based on the displayed scene operation result so as to complete the test of the equipment to be tested in the corresponding test scene.
As an improvement of the above, the method further comprises:
the vehicle road simulation equipment simulates a test scene and determines a target object in the test scene.
As an improvement of the above scheme, the traffic information includes: road information and traffic indication information;
then, the vehicle road simulation device sends the currently simulated road condition message to the device to be tested based on V2X, including:
the vehicle road simulation equipment encapsulates the road information into MAP information;
the vehicle road simulation equipment encapsulates the traffic indication information in the road condition information into an SPAT message;
and the vehicle road simulation equipment sends the MAP message and the SPAT message to the equipment to be tested through a road side unit.
As an improvement of the above scheme, the performing, by the device under test, a scene operation according to the received vehicle data, the target object interaction message, and the road condition message to obtain a scene test simulation result includes:
the equipment to be tested encapsulates the vehicle data received in a preset first time period into vehicle interaction messages;
and the equipment to be tested periodically performs scene operation according to the vehicle interactive message, the target object interactive message, the MAP message and the SPAT message to obtain a scene test simulation result.
As an improvement of the above solution, the sending, by the vehicle road simulation device, the currently simulated target object interaction message to the device under test based on V2X includes:
the vehicle road simulation equipment sends the target object interaction message to a vehicle-mounted communication unit according to the first time period;
the vehicle-mounted communication unit sends the target object interaction message to the equipment to be tested according to a preset second time period; wherein the second time period is less than the first time period.
As an improvement of the above scheme, the sending, by the vehicle road simulation device, the MAP message and the spam message to the device under test by a roadside unit includes:
the vehicle road simulation equipment sends the MAP message and the SPAT message to the road side unit according to a preset first time period;
the road side unit sends the MAP message to the equipment to be tested according to a preset third time period;
the road side unit sends the SPAT message to the equipment to be tested according to a preset fourth time period; wherein the third time period is greater than the fourth time period, which is greater than the first time period.
As an improvement of the above solution, the vehicle data includes a vehicle speed, a heading, a steering wheel angle, vehicle body data, and position information of the vehicle; the target object interaction message comprises the speed, the course, the steering wheel angle, the vehicle body data and the position information of a target vehicle object, a message between vehicles and pedestrians, and a message between vehicles and non-motor vehicles.
As an improvement of the above solution, the displaying, by the vehicle road simulation device, the scene operation result includes:
the vehicle road simulation equipment acquires and displays a driving scene early warning image according to a scene test simulation result;
and/or the presence of a gas in the gas,
and the vehicle road simulation equipment obtains early warning prompt information according to the scene test simulation result so as to carry out voice broadcast prompt.
As an improvement of the scheme, the vehicle road simulation equipment, the road side unit, the vehicle-mounted communication unit and the equipment to be tested use a UPD communication protocol to carry out message transparent transmission.
In a second aspect, an embodiment of the present invention provides a driving scenario testing system based on V2X, including: simulating a driver, a vehicle road simulation device and a device to be tested;
the vehicle road simulation equipment is used for responding to the received vehicle control simulation signal sent by the simulation driver, generating vehicle data and sending the vehicle data to equipment to be tested;
the vehicle road simulation equipment is used for sending the currently simulated road condition information to the equipment to be tested based on V2X;
the vehicle road simulation equipment is used for sending the currently simulated target object interaction message to the equipment to be tested based on V2X;
the device to be tested is used for carrying out scene operation according to the received vehicle data, the target object interaction message and the road condition message and sending a scene operation result to the vehicle path simulation device;
and the vehicle road simulation equipment is used for displaying the scene operation result and carrying out risk assessment based on the displayed scene operation result so as to complete the test of the equipment to be tested in the corresponding test scene.
As an improvement of the above solution, the driving scenario test system based on V2X further includes: a road side unit and a vehicle-mounted communication unit;
the vehicle road simulation equipment is used for sending the currently simulated road condition information to the road side unit;
the road side unit is used for forwarding the road condition message to the equipment to be tested;
the vehicle road simulation equipment is used for sending the currently simulated target object interaction message to the vehicle-mounted communication unit;
and the vehicle-mounted communication unit is used for forwarding the target object interaction message to the equipment to be tested.
As an improvement of the above solution, the driving scenario test system based on V2X further includes: a communication unit;
the vehicle road simulation equipment is used for sending the currently simulated road condition information and the target object interaction information to the communication unit;
and the communication unit is used for forwarding the road condition message and the target object interaction message to the equipment to be tested.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the vehicle data, the target object interaction message and the road condition message of the test scene are simulated by the vehicle road simulation equipment to the equipment to be tested for carrying out V2X scene operation, the whole scene test process does not need to artificially drive the vehicle to the real road for testing, the required test space is small, the test field is not limited by a closed test field, and the test efficiency can be improved; besides the messages, entities in other systems are participating hardware devices in a real driving scene, so that the fidelity of the real driving scene can be effectively guaranteed.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of a driving scenario testing method based on V2X according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a driving scenario testing system based on V2X according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an intersection collision scenario provided by an embodiment of the present invention;
fig. 4 is a schematic view of a test flow of an intersection collision scenario provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Example one
Referring to fig. 1, the present invention provides a driving scenario testing method based on V2X, including:
s11: the method comprises the steps that vehicle road simulation equipment responds to a received vehicle control simulation signal sent by a simulation driver to generate vehicle data and sends the vehicle data to equipment to be tested;
s12: the vehicle road simulation equipment sends the currently simulated road condition information to the equipment to be tested based on V2X;
s13: the vehicle road simulation equipment sends the currently simulated target object interaction message to the equipment to be tested based on V2X;
in the embodiment of the invention, considering that when a plurality of target vehicle objects are simulated, the target object interaction messages in one period are too much, the resources of the embedded development board of the device to be tested are limited, the target object interaction messages are packaged on the vehicle road simulation device, and the vehicle-mounted communication unit only needs to use a V2X model to perform message air-interface transmission, so that the blockage caused by too much messages from the vehicle road simulation device to the vehicle-mounted communication unit can be effectively avoided, and the test efficiency is improved.
S14: the equipment to be tested performs scene operation according to the received vehicle data, the target object interaction message and the road condition message to obtain a scene test simulation result;
s15: and the vehicle road simulation equipment displays the scene operation result and carries out risk assessment based on the displayed scene operation result so as to complete the test of the equipment to be tested in the corresponding test scene.
As shown in fig. 2, the vehicle road simulation apparatus includes a data control module and a scene simulation module. The vehicle road simulation device may be a computer, a tablet or other computing device, and the vehicle road simulation device is loaded with a vehicle road simulation system cara. The tester simulates driving through a simulation driver, such as a simulation driving steering wheel, generates a corresponding vehicle control simulation signal and sends the signal to the vehicle road simulation equipment; the scene simulation module of the vehicle road simulation equipment responds to the received vehicle control simulation information to generate corresponding vehicle data of the vehicle, vehicle data of the target vehicle object and road condition data, and sends the data to the data control module for packaging in a corresponding format. The vehicle road simulation equipment calls a target object interaction message packaged by a V2X protocol stack to be forwarded to the equipment to be tested through the vehicle-mounted communication unit, the vehicle road simulation equipment calls a road condition message packaged by a V2X protocol stack to be forwarded to the equipment to be tested through the road side unit, the packaged vehicle data is directly sent to the equipment to be tested, V2X modules are arranged in the vehicle road simulation equipment, the vehicle-mounted communication unit, the road side unit and the equipment to be tested, the vehicle road simulation equipment, the vehicle-mounted communication unit, the road side unit and the equipment to be tested perform message transmission through a UDP protocol, and the vehicle-mounted communication unit are communicated with the equipment to be tested through a pc5 air interface protocol. The device to be tested is a V2X entity device provided with a V2X scene algorithm, and V2X scene operation is carried out on the basis of the received vehicle data, the target object interaction message and the road condition message to obtain a scene test simulation result; the vehicle road simulation equipment displays the returned scene test simulation result, so that a tester can directly see the scene test result.
In the embodiment of the invention, the vehicle data, the target object interaction message and the road condition message of the test scene are output to the equipment to be tested by the vehicle path simulation equipment to carry out V2X scene operation, the whole scene test process does not need to artificially drive vehicles to test in a real road, the required test space is small, the test is not limited by a closed test field, and the test efficiency can be improved; besides the messages, entities in other systems are participating hardware devices in a real driving scene, so that the fidelity of the real driving scene can be effectively guaranteed.
Further, the vehicle road simulation device generates vehicle data in response to the received vehicle control simulation signal sent by the simulated driver, and sends the vehicle data to the device to be tested, and the method includes:
the vehicle road simulation equipment controls the vehicle to execute corresponding actions in response to the received vehicle control simulation signals sent by the simulation driver;
the vehicle road simulation equipment acquires vehicle data of the vehicle after the vehicle executes corresponding actions;
the vehicle road simulation equipment generates vehicle data of the vehicle according to a private data format;
and the vehicle path simulation equipment sends the vehicle data to the equipment to be tested.
In an optional embodiment, the performing, by the device under test, a scene operation according to the received vehicle data, the target object interaction message, and the road condition message to obtain a scene test simulation result includes:
the equipment to be tested encapsulates the vehicle data received in a preset first time period into vehicle interaction messages;
and the equipment to be tested periodically performs scene operation according to the vehicle interactive message, the target object interactive message, the MAP message and the SPAT message to obtain a scene test simulation result.
Illustratively, the vehicle control analog signals include, but are not limited to, throttle, brake, gear, steering wheel, steering angle, etc. control signals. The scene simulation module responds to the received vehicle control simulation information and controls the vehicle to execute corresponding actions; and sending vehicle data of the vehicle executing corresponding actions to the data control module according to a preset fifth time period, wherein the data control module packages the vehicle data according to a specific private data format and forwards the vehicle data to the equipment to be tested. The equipment to be tested sends the received vehicle data to an application layer of the equipment to be tested, the application layer maintains a cache queue, and when the timing reaches a first time period, the vehicle data in the first time period calls a V2X protocol stack to be packaged into vehicle interaction information in a BSM data format defined by the national standard of V2X; and meanwhile, scene operation is periodically carried out by combining the target object interaction message and the road condition message, the scene test simulation result is returned to the data control module through the Ethernet, and the data control module sends the scene test simulation result to the scene simulation module for displaying to form a closed loop test. Wherein the fifth time period may be set to 10ms, and the first time period may be set to 100 ms.
In an alternative embodiment, the traffic information includes: road information and traffic indication information;
the traffic indication information comprises traffic light information, traffic sign information, camera information, radar information and the like.
Then, the vehicle road simulation device sends the currently simulated road condition message to the device to be tested based on V2X, including:
the vehicle road simulation equipment encapsulates the road information into MAP information;
the vehicle road simulation equipment encapsulates the traffic indication information in the road condition information into an SPAT message;
and the vehicle road simulation equipment sends the MAP message and the SPAT message to the equipment to be tested through a road side unit.
In the embodiment of the invention, if the road information and the traffic indication information in one period are too much and the resources of the embedded development board of the equipment to be tested are limited when a plurality of road conditions are simulated, the road information and the traffic indication information are packaged on the road simulation equipment, and the road side unit only needs to use a V2X model for message air interface transmission, so that the blockage caused by too much messages from the road simulation equipment to the road side unit can be effectively avoided, and the test efficiency is improved.
In an alternative embodiment, the sending, by the vehicle road simulation device, the currently simulated target object interaction message to the device under test based on V2X includes:
the vehicle road simulation equipment sends the target object interaction message to the vehicle-mounted communication unit according to the first time period;
the vehicle-mounted communication unit sends the target object interaction message to the equipment to be tested according to a preset second time period; wherein the second time period is less than the first time period.
For example, the second time period may be adjusted according to a positive distribution of the first time period, for example, when the first time period is 100ms, the second time period is set to 25 ms. And after receiving the target object interaction message, the vehicle-mounted communication unit sends the target object interaction message to the equipment to be tested through a PC5 port according to a cycle of every 25 ms.
Further, the vehicle road simulation device sends the MAP message and the SPAT message to the device to be tested through a road side unit, and the method includes:
the vehicle road simulation equipment sends the MAP message and the SPAT message to the road side unit according to a preset first time period;
the road side unit sends the MAP message to the equipment to be tested according to a preset third time period;
the road side unit sends the SPAT message to the equipment to be tested according to a preset fourth time period; wherein the third time period is greater than the fourth time period, which is greater than the first time period.
For example, the third time period and the fourth time period may be sent according to the RSU national standard frequency specified by the V2X protocol stack, for example, the third time period is set to 1000ms, and the fourth time period is set to 500 ms.
In order to save hardware resources, in other embodiments, a communication unit having corresponding functions of the road side unit and the vehicle-mounted communication unit may be further selected for data transparent transmission, specifically:
and the vehicle road simulation equipment sends the MAP message and the SPAT message to the equipment to be tested through a communication unit.
Further, the vehicle road simulation equipment sends the MAP message and the SPAT message to the passing communication unit according to a preset first time period;
the communication unit sends the MAP message to the equipment to be tested according to a preset third time period;
the communication unit sends the SPAT message to the equipment to be tested according to a preset fourth time period; wherein the third time period is greater than the fourth time period, which is greater than the first time period.
The vehicle road simulation equipment sends the target object interaction message to the communication unit according to the first time period;
the communication unit sends the target object interaction message to the equipment to be tested according to a preset second time period; wherein the second time period is less than the first time period.
In an optional embodiment, the method further comprises:
the vehicle road simulation equipment simulates a test scene and determines a target object in the test scene.
Wherein the target object includes but is not limited to a target vehicle object, a pedestrian, a non-motor vehicle. After a test scene is simulated and a target object of the test scene is determined, corresponding road condition information and target object interaction information are simulated.
In an alternative embodiment, the host vehicle data includes a vehicle speed, a heading, a steering wheel angle, vehicle body data, and position information of the host vehicle; the target object interaction message comprises the speed, the course, the steering wheel angle, the vehicle body data and the position information of a target vehicle object, a message between vehicles and pedestrians, and a message between vehicles and non-motor vehicles.
The information between the vehicles comprises information between the vehicle and the target vehicle and information between the target vehicle and the target vehicle; the messages between the vehicles and the pedestrians comprise messages between the vehicles and the pedestrians and messages between the target vehicles and the pedestrians; the messages between the vehicle and the non-motor vehicle comprise messages between the vehicle and the non-motor vehicle and messages between the target vehicle and the non-motor vehicle.
The vehicle body data comprises the vehicle length and the vehicle width of the vehicle/target vehicle object; the position information comprises longitude, latitude and altitude of the vehicle/target vehicle object; the vehicle speed includes the speed of the host vehicle/target vehicle object, the three-axis acceleration, and the yaw rate. The host vehicle data may also include current time information of the host vehicle. The object interaction message comprises current time information of the object vehicle, satellite positioning difference data, vehicle driving intention information (such as acceleration, lane change and the like). After simulating the target object interaction message, the vehicle road simulation equipment encapsulates the target object interaction message into a data format (including BSM, RSM, RTCM, SSM, VIR and PSM) conforming to the national standard V2X so as to send the target object interaction message to the equipment to be tested.
To aid understanding, several data formats defined by the V2X national standard are described below:
BSM: basic safety information mainly comprises a vehicle body CAN signal and position information; the CAN signal of the vehicle body comprises the vehicle speed, the course, the steering wheel angle, the vehicle body data and the like;
RSM: traffic participant information, position information of pedestrians, vehicles, etc., driving information, speed information, i.e., the above-mentioned messages between vehicles and pedestrians;
and (3) RTCM: satellite positioning differential data;
and (4) SSM: traffic participants, roadblocks, traffic events, like RSM messages;
VIR: vehicle driving intent, such as acceleration, lane change, etc.;
PSM: position information, driving intention, acceleration, etc. of the vulnerable traffic participants;
RSI: roadside signs, traffic events, and station segment information;
SPAT: traffic light information, timing information of each color light, and position information, i.e., the above-mentioned SPAT message;
MAP: high-precision MAP information, including the longitude and latitude of the lane line level, and roadside signs, i.e. the MAP message;
PAM: the method mainly comprises the following steps of station information, such as parking factory information: the number of the parking places, the available parking place information and the parking place position information;
RSC: vehicle driving guidance information such as whether to change lanes, accelerate, etc.;
CLPMM: vehicle formation information, such as build, join, leave, dissolve;
VPM: vehicle payment to realize road charging interaction;
UDM: the salt city hvp is automatically off-line, and vehicle control information is sent by the factory.
And the vehicle road simulation equipment selectively generates a message set corresponding to one or more data formats according to the simulated test scene and the simulated target object so as to send the message set to the equipment to be tested for scene simulation operation. In the embodiment of the present invention, the dividing of the target object interaction message according to the data format includes: BSM message, RSM message, RTCM message, SSM message, VIR message, PSM message.
In an optional embodiment, the displaying, by the vehicle road simulation device, the scene test simulation result returned by the device to be tested includes:
the vehicle road simulation equipment acquires and displays a driving scene early warning image according to a scene test simulation result;
and/or the presence of a gas in the gas,
and the vehicle road simulation equipment obtains early warning prompt information according to the scene test simulation result so as to carry out voice broadcast prompt.
The scene test simulation result comprises a driving scene early warning image and corresponding early warning prompt information, and the vehicle road simulation equipment can extract the driving scene early warning image for displaying and carry out voice broadcast prompt corresponding to the early warning prompt information, so that the feedback of the scene test result is realized, and the closed-loop test is realized.
For example, the vehicle road simulation device may simulate various driving scenes, such as intersection collision, left turn assistance, emergency braking warning, red light running warning, and the like, and the overall test process is described below by taking the intersection collision warning scene shown in fig. 3 as an example:
as shown in fig. 4:
the driving simulation controller sends a vehicle control simulation signal to the scene simulation module;
the scene simulation module is used for controlling the driving of the vehicle and sending scene object data to the data control module every 10ms, wherein the scene object data comprises vehicle data, roads, traffic lights and the like of the vehicle and a target object;
the data control module packages vehicle data of the vehicle into vehicle data hv _ data in a private data format and sends the vehicle data hv _ data to the equipment to be tested according to a cycle of every 100 ms;
the data control module packages vehicle data of a target vehicle object into a national standard BSM message set and sends the BSM message to the vehicle-mounted communication unit according to each 100ms period;
the vehicle-mounted communication unit sequentially sends the BSM information of the target vehicle to the equipment to be tested every 25 ms;
the data control module encapsulates national standard MAP messages encapsulated by road information and traffic lights into national standard SPAT messages, and sends the SPAT messages and the MAP messages to the road side unit according to the period of every 100 ms;
the road side unit sends SPAT information to the equipment to be tested every 500ms, and sends MAP information to the equipment to be tested every 1000 ms;
the device to be tested periodically organizes the vehicle data to be packaged into vehicle interactive information, the V2X scene algorithm decision module periodically performs scene operation according to the vehicle interactive information, the BSM information of the target vehicle, the SPAT information and the MAP information, calculates the collision risk between the vehicle and the target vehicle object, and packages the collision risk into a crossroad warning data result to be fed back to the data control module;
and the data control module sends the crossroad warning data result to the scene simulation module to display the crossroad condition collision image and prompt by voice report.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
1. the vehicle data, the target object interaction message and the road condition message of the test scene are simulated by the vehicle road simulation equipment to the equipment to be tested for carrying out V2X scene operation, the whole scene test process does not need to manually drive the vehicle to the real road for testing, the required test space is small, the test is not limited by a closed test field, the test can be carried out on an office table, and the test efficiency can be improved; besides the messages, entities in other systems are participating hardware devices in a real driving scene, so that the fidelity of the real driving scene can be effectively guaranteed.
2. The simulation data with large data volume such as target vehicles, roads, traffic lights and the like are packaged in the vehicle-road simulation equipment and are transmitted to the corresponding communication units through the UDP communication protocol based on the V2X model, so that the blocking phenomenon caused by excessive data volume from the vehicle-road simulation equipment to the communication units (for example, the situation that a test scene involves hundreds of target vehicles and a plurality of road side units) can be effectively avoided, and the test efficiency can be further improved.
3. According to the invention, a V2X early warning function test framework under a multi-target scene consisting of a simulated driver, a vehicle road simulation device, a road side unit, a vehicle-mounted communication unit and a device to be tested is built, whether the early warning function of the device to be tested is normal or not is judged through a V2X early warning signal displayed in a virtual environment of the vehicle road simulation device, and the test result of the device to be tested, namely the V2X unit scene is effectively verified.
Example two
Referring to fig. 2, an embodiment of the present invention provides a driving scenario testing system based on V2X, including: the method comprises the following steps of simulating a driver 1, a vehicle road simulation device 2 and a device to be tested 3;
the vehicle path simulation equipment 2 is used for responding to the received vehicle control simulation signal sent by the simulation driver 1, generating vehicle data and sending the vehicle data to equipment to be tested;
the vehicle road simulation equipment 2 is used for sending the currently simulated road condition information to the equipment to be tested 3 based on V2X;
the vehicle road simulation equipment is used for sending the currently simulated target object interaction message to the equipment to be tested 3 based on V2X;
the device to be tested 3 is used for carrying out scene operation according to the received vehicle data, the target object interaction message and the road condition message and sending a scene operation result to the vehicle path simulation device;
and the vehicle road simulation equipment 2 is used for displaying the scene operation result and performing risk assessment based on the displayed scene operation result to complete the test of the equipment to be tested in the corresponding test scene.
In an optional embodiment, the vehicle road simulation device is configured to simulate a test scenario and determine a target object in the test scenario.
Further, the vehicle road simulation apparatus 2 includes: a scene simulation module 21 and a data control module 22;
the scene simulation module 21 is configured to control the vehicle to execute a corresponding action in response to the received vehicle control simulation signal sent by the simulated driver;
the data control module 22 is configured to acquire vehicle data of the host vehicle after executing a corresponding action;
the data control module 22 is configured to generate vehicle data of the vehicle according to a private data format;
the data control module 22 is configured to send the vehicle data to the device under test.
Further, the device to be tested 3 is configured to encapsulate the vehicle data received within a preset first time period into the vehicle interaction message;
and the device to be tested 3 is used for periodically carrying out scene operation according to the vehicle interaction message, the target object interaction message, the MAP message and the SPAT message to obtain a scene test simulation result.
In an alternative embodiment, the system further comprises: a road side unit 4, an on-vehicle communication unit 5;
the vehicle road simulation equipment 2 is used for sending the road condition information which is currently simulated to the road side unit 4;
the road side unit 4 is configured to forward the road condition message to the device under test 3;
the vehicle road simulation equipment 2 is used for sending the currently simulated target object interaction message to the vehicle-mounted communication unit 5;
and the vehicle-mounted communication unit 5 is configured to forward the target object interaction message to the device to be tested 3.
In an alternative embodiment, the system further comprises: a communication unit;
the vehicle road simulation equipment 2 is used for sending the currently simulated road condition information and the target object interaction information to the communication unit;
and the communication unit is configured to forward the road condition message and the target object interaction message to the device to be tested 3.
Wherein the communication unit is used for realizing the functions of the road side unit 4 and the vehicle-mounted communication unit 5.
The vehicle road simulation equipment 2, the road side unit 4, the vehicle-mounted communication unit 5 and the equipment to be tested 3 use a UPD communication protocol to perform message transparent transmission.
In an alternative embodiment, the traffic information includes: road information and traffic indication information;
then, the data control module 22 is configured to encapsulate the road information into a MAP message;
the data control module 22 is configured to encapsulate the traffic indication information in the traffic information into a SPAT message;
the data control module 22 is configured to send the MAP message and the SPAT message to the device under test through the roadside unit.
In an alternative embodiment, the data control module 22 is configured to send the object interaction message to the vehicle-mounted communication unit 5 according to the first time period;
the vehicle-mounted communication unit 5 is configured to send the target object interaction message to the device to be tested 3 according to a preset second time period; wherein the second time period is less than the first time period.
In an optional embodiment, the data control module 22 is configured to send the MAP message and the SPAT message to the roadside unit 4 according to a preset first time period;
the road side unit 4 is configured to send the MAP message to the device under test 3 according to a preset third time period;
the roadside unit 4 is configured to send the SPAT message to the device under test 3 according to a preset fourth time period; wherein the third time period is greater than the fourth time period, which is greater than the first time period.
In an alternative embodiment, the host vehicle data includes a vehicle speed, a heading, a steering wheel angle, vehicle body data, and position information of the host vehicle; the target object interaction message comprises the speed, the course, the steering wheel angle, the vehicle body data and the position information of a target vehicle object, a message between vehicles and pedestrians, and a message between vehicles and non-motor vehicles.
In an optional embodiment, the scene simulation module 21 is configured to obtain a driving scene early warning image according to a scene test simulation result, and display the driving scene early warning image.
Further, the scene simulation module 21 is configured to obtain early warning prompt information according to the scene test simulation result, so as to perform voice broadcast prompt.
It should be noted that the working principle and technical effect of the driving scenario testing system based on V2X according to the embodiment of the present invention are the same as those of the first embodiment, and are not repeated herein.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (12)
1. A driving scenario testing method based on V2X is characterized by comprising the following steps:
the method comprises the steps that vehicle road simulation equipment responds to a received vehicle control simulation signal sent by a simulation driver to generate vehicle data and sends the vehicle data to equipment to be tested;
the vehicle road simulation equipment sends the currently simulated road condition information to the equipment to be tested based on V2X;
the vehicle road simulation equipment sends the currently simulated target object interaction message to the equipment to be tested based on V2X;
the equipment to be tested performs scene operation according to the received vehicle data, the target object interaction message and the road condition message, and sends a scene operation result to the vehicle path simulation equipment;
and the vehicle road simulation equipment displays the scene operation result and carries out risk assessment based on the displayed scene operation result so as to complete the test of the equipment to be tested in the corresponding test scene.
2. The V2X-based driving scenario testing method of claim 1, further comprising:
the vehicle road simulation equipment simulates a test scene and determines a target object in the test scene.
3. The V2X-based driving scenario testing method of claim 1, wherein the road condition message comprises: road information and traffic indication information;
then, the vehicle road simulation device sends the currently simulated road condition message to the device to be tested based on V2X, including:
the vehicle road simulation equipment encapsulates road information in the road condition information into MAP information;
the vehicle road simulation equipment encapsulates the traffic indication information in the road condition information into an SPAT message;
and the vehicle road simulation equipment sends the MAP message and the SPAT message to the equipment to be tested through a road side unit.
4. The V2X-based driving scenario test method of claim 3, wherein the device under test performs scenario computation according to the received vehicle data, the target object interaction message, and the road condition message to obtain a scenario test simulation result, comprising:
the equipment to be tested encapsulates the vehicle data received in a preset first time period into vehicle interaction messages;
and the equipment to be tested periodically performs scene operation according to the vehicle interactive message, the target object interactive message, the MAP message and the SPAT message to obtain a scene test simulation result.
5. The V2X-based driving scenario testing method of claim 4, wherein the vehicle road simulation device sending the currently simulated target interaction message to the device under test based on V2X comprises:
the vehicle road simulation equipment sends the target object interaction message to a vehicle-mounted communication unit according to the first time period;
the vehicle-mounted communication unit sends the target object interaction message to the equipment to be tested according to a preset second time period; wherein the second time period is less than the first time period.
6. The V2X-based driving scenario test method of claim 5, wherein the road simulation device sending the MAP message and the SPAT message to the device under test through a road side unit comprises:
the vehicle road simulation equipment sends the MAP message and the SPAT message to the road side unit according to a preset first time period;
the road side unit sends the MAP message to the equipment to be tested according to a preset third time period;
the road side unit sends the SPAT message to the equipment to be tested according to a preset fourth time period; wherein the third time period is greater than the fourth time period, which is greater than the first time period.
7. The V2X-based driving scenario test method of claim 1, wherein the host vehicle data includes vehicle speed, heading, steering wheel angle, body data, and location information of the host vehicle; the target object interaction message comprises the speed, the course, the steering wheel angle, the vehicle body data and the position information of a target vehicle object, a message between vehicles and pedestrians, and a message between vehicles and non-motor vehicles.
8. The V2X-based driving scenario test method of claim 1, wherein the vehicle road simulation device displaying the scenario operation result comprises:
the vehicle road simulation equipment acquires and displays a driving scene early warning image according to a scene test simulation result;
and/or the vehicle road simulation equipment obtains early warning prompt information according to the scene test simulation result so as to carry out voice broadcast prompt.
9. The V2X-based driving scenario testing method of claim 6, wherein the vehicle road simulation device performs message transparent transmission with the road side unit, the vehicle-mounted communication unit, and the device under test by applying UPD communication protocol.
10. A V2X-based driving scenario testing system, comprising: simulating a driver, a vehicle road simulation device and a device to be tested;
the vehicle road simulation equipment is used for responding to the received vehicle control simulation signal sent by the simulation driver, generating vehicle data and sending the vehicle data to equipment to be tested;
the vehicle road simulation equipment is used for sending the currently simulated road condition information to the equipment to be tested based on V2X;
the vehicle road simulation equipment is used for sending the currently simulated target object interaction message to the equipment to be tested based on V2X;
the device to be tested is used for carrying out scene operation according to the received vehicle data, the target object interaction message and the road condition message and sending a scene operation result to the vehicle path simulation device;
and the vehicle road simulation equipment is used for displaying the scene operation result and carrying out risk assessment based on the displayed scene operation result so as to complete the test of the equipment to be tested in the corresponding test scene.
11. The V2X-based driving scenario testing system of claim 10, further comprising: a road side unit and a vehicle-mounted communication unit;
the vehicle road simulation equipment is used for sending the currently simulated road condition information to the road side unit;
the road side unit is used for forwarding the road condition message to the equipment to be tested;
the vehicle road simulation equipment is used for sending the currently simulated target object interaction message to the vehicle-mounted communication unit;
and the vehicle-mounted communication unit is used for forwarding the target object interaction message to the equipment to be tested.
12. The V2X-based driving scenario testing system of claim 10, further comprising: a communication unit;
the vehicle road simulation equipment is used for sending the currently simulated road condition information and the target object interaction information to the communication unit;
and the communication unit is used for forwarding the road condition message and the target object interaction message to the equipment to be tested.
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