CN114355791A - Simulation test method, system and computer readable storage medium for intelligent driving redundancy function - Google Patents
Simulation test method, system and computer readable storage medium for intelligent driving redundancy function Download PDFInfo
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Abstract
The invention relates to a simulation test method, a system and a computer readable storage medium for developing an intelligent driving redundancy function, which are characterized in that when intelligent driving simulation is carried out to a stage of inputting a main function signal and a CAN bus signal, partial signal interfaces are opened, partial signals are disconnected, and the signals are accessed to the original simulation environment after fault injection is carried out. And finally, comparing and verifying the result of the observation interface according to the expected result of the case, thereby testing whether the functional logic of the redundant system meets the requirement. Therefore, most signals are not changed, only the expectation of the signals injected with faults is changed, the scene of real faults is effectively simulated, the model-in-loop redundancy function closed-loop test is formed, the test reliability is improved, and the test efficiency is improved through the MIL automatic test method.
Description
Technical Field
The invention is used in the field of intelligent driving automobile simulation test, and particularly relates to a model-in-loop simulation test method for intelligent driving redundancy function development.
Background
Redundancy is the most common technical term of an airplane at the earliest time, and means that electronic control systems of the airplane are safely backed up, and the situation that the normal operation of the airplane is affected due to sudden damage of one set of systems, so that the life safety of passengers is threatened is prevented. Similarly, the landing of the intelligent driving automobile is also supported by the redundant function. When the intelligent driving system of the automobile is used for guaranteeing the normal operation of the intelligent driving system, the redundant control of the intelligent driving system of the automobile must be considered so as to ensure that the redundant control system takes effect to guarantee the safety of the automobile and drivers and passengers under the condition of the failure of the single control system.
From the perspective of safety of intelligent driving functions, except for dangerous scene processing of extreme working conditions (such as rockfall, construction roads or car accidents) in the environment, in the field of research and development of intelligent driving systems, scenes which need to pay more attention are focused on failure problem processing of controllers and actuators. The research and development team of the L3 redundant function of Changan automobile focuses on the design of the redundant function of the failure problem of the intelligent driving system controller of the automobile. But because the fault injection mode is adopted at the most front end of the system in the development and verification process, the redundant signals to be tested are input to the system. The whole test process is open-loop, and some normal signals are changed, so that the signals obtained by the RDF module are not credible, and the simulation test at the moment cannot simulate the state of the intelligent driving system under the real fault, so that the realization of the redundancy function cannot be effectively verified.
Disclosure of Invention
In view of this, the present invention is directed to a simulation test method, a simulation test system, and a computer-readable storage medium for developing an intelligent driving redundancy function, which improve the efficiency of a simulation test by combining with an MIL automation test method under the basic condition of improving the reliability of the simulation test.
In order to realize the purpose, the invention provides the following technical scheme:
the invention provides a simulation test method for developing an intelligent driving redundancy function, which is characterized in that when intelligent driving simulation is carried out to a stage that a main function signal and a CAN bus signal are input, partial signal interfaces are opened, partial signals are disconnected, and the signals are accessed to the original simulation environment after fault injection is carried out. And finally, comparing and verifying the result of the observation interface according to the expected result of the case, thereby testing whether the functional logic of the redundant system meets the requirement. Therefore, most signals are not changed, only the expectation of the signals injected with faults is changed, the scene of the occurrence of the real faults is effectively simulated, and the model-based redundancy function closed-loop test of the in-loop is formed. The test reliability is improved, and the test efficiency is also improved by an MIL automatic test method.
Further, the simulation test method specifically comprises the following steps:
and S1, starting a redundancy function simulation test.
S2, opening a middle layer interface: and adding an in-out function model in the algorithm module so as to disconnect the communication link of the signal and the RDF function module, setting a signal fault code to 10000, normally communicating the signal if the verification evaluation value of the signal is equal to the fault code, and keeping the original value of the signal input to the RDF module.
S3, accessing a simulation environment: and if the checking assignment of the signal is not equal to the preset fault code, the signal is represented as a fault signal, the corresponding automatic test script reads the fault value of the signal from the step document, assigns the fault value to the signal in the module, and finally the signal input to the functional module is the coupling value of the fault signal and the corresponding constant.
And S4, judging whether the simulation test runs or not, and ending the simulation if the platform has errors.
And S5, if the simulation can be run, judging whether a simulation execution condition is met, further considering whether the test process is Blocked, namely Block, when the execution condition is not met, and when the Block condition is met, ending the simulation test by the system, and recording the Step and the condition of Block as Block _ Step.
And S6, if the simulation execution condition is satisfied, fault injection is carried out, and the coupling value of the fault signal and the corresponding constant is given to the fault signal.
S7, judging whether the RDF test passing condition is met: and performing signal retrieval and comparison verification on the observation interface, and judging whether the obtained observation interface signal meets the expectation of case summary.
And S8, if the test result meets the expectation, the RDF simulation test is normally carried out, the corresponding redundancy function logic algorithm meets the design requirement, and the case is recorded as Passed.
S9, if it is different from the expected result, record the case as Failed _ Step.
And S10, judging whether the step is the last step or not, if not, returning to the step 103, and if so, ending the simulation.
In another aspect, the present invention further provides a simulation test method system for developing intelligent driving redundancy functions, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the simulation test method for developing intelligent driving redundancy functions as described above is implemented.
In yet another aspect, the present invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the simulation test method for intelligent driving redundancy function development as described above.
The invention has the advantages that: and fault signals are injected in the process of simulation, so that most of normal signal input for intelligent driving simulation is reserved, and fault signals required by cases are also manufactured, and the reliability of a redundancy function test result is greatly improved.
Drawings
FIG. 1 is a flowchart of a model-in-loop test method for redundant function simulation testing according to the present invention.
Detailed Description
The invention is further explained by taking the attached drawings and the development of the redundant function of the Changan L3-level intelligent driving system as an example, and the design logic framework of the invention can be clearly understood by reading the following text and the technical flow chart. The main technical points of the invention are shown in the form of a flow chart, and the readability of the invention is also perfected, which is convenient for readers to learn and review.
The development of redundant functions of the Changan L3-level intelligent driving system focuses on the problem of failure of a driving system controller, so that the test focuses on the following two points: firstly, whether the functional logic of the redundant system is normal or not can make correct feedback response to the controller after receiving a fault injection signal, and the safety of the whole intelligent driving system is guaranteed. And how to accomplish fault injection of partial signals without influencing other signals when opening the interface of the middle layer in the simulation process. Therefore, the main idea of the simulation test applicable to the Changan intelligent driving redundancy function is as follows: and testing whether the functional logic of the redundant system meets the requirements or not by skillfully opening the interface of the middle layer to perform fault injection and comparing and verifying the result of the observation interface according to the expected result of the case. And the test result is fed back to a research and development team, so that the iteration and the development of the redundant system are promoted together.
The following is further described with reference to the accompanying drawings:
example 1:
referring to fig. 1, the present embodiment is a model-in-loop testing method for a redundant function simulation test, including the following steps:
s1, starting simulation: by adopting the method, before the redundancy function simulation test is started, a reasonable simulation test summary needs to be planned for a redundancy system, and a simulation test step document is built by combining a corresponding bus protocol. The document information in the testing step is mainly divided into testing conditions, observation interfaces, execution operations, input interfaces, Block conditions, passing conditions and the like.
S2, opening a middle layer interface: the open middle layer interface is performed in an algorithm model, specifically, an in-out function model is added in the Changan L3 algorithm module, so that a communication link between a signal and the RDF function module is disconnected. And a signal fault code is set to 10000, if the verification assignment of the signal is equal to the fault code, the signal is normally communicated, and the original value of the signal is kept to be input to the RDF module.
And S3, if the verification evaluation value of the signal is not equal to the preset fault code, indicating that the signal is a fault signal. And the corresponding automatic test script reads the fault value of the signal from the step document, assigns the fault value to the signal in the module, and finally inputs the signal to the functional module as the coupling value of the fault signal and a corresponding constant (preset to-10000). Thereby realizing a function of changing only the input value of the expected failure signal in the course of the simulation.
S4, judging whether the simulation is operated: whether simulation runs or not is a one-time check on the simulation test platform, if the platform has errors, the simulation is immediately finished, and errors are reported to remind a tester to trace the source and trace and modify.
S5, if the simulation can run, the judgment of the simulation execution condition is performed once. When the execution condition is not met, it is considered whether the test procedure is blocked, i.e. Block. When the Block condition is met, the system finishes the simulation test, and records the Step and the condition of the Block as Block _ Step.
And S6, injecting a fault signal in the simulation process. The assignment of the fault signal is changed after fault injection, which also means that the redundant system will perform a corresponding feedback operation. Therefore, signal retrieval and comparison verification are required to be performed at the observation interface to determine whether the obtained observation interface signal meets the expectations outlined in the case, i.e., the condition that the test passes.
And S7, the passing condition part comprises serial number, requirement ID, judgment time, judgment condition and interface. And the simulation test of the model in the ring is realized by using a scene file, a model and an algorithm, a whole vehicle model and a signal monitoring port. The application of a signal monitoring port is particularly increased in the simulation test, so that dynamic signal monitoring and related signal recording are realized.
And S8, if the test result meets the expectation, the RDF simulation test is normally carried out, the corresponding redundancy function logic algorithm meets the design requirement, and the case is recorded as Passed.
S9, if the result is different from the expected result, it indicates that the functional logic involved in this case of the redundant system is faulty and the corresponding RDF algorithm should be modified. The case is therefore recorded as Failed Step and fed back by the tester to the development team for modification. The purpose of simulation test is achieved.
And S10, after all the test cases are executed, performing a statistical analysis on the test by using the retrieval script of the simulation test platform, and issuing a corresponding test report. If all case labels are Passed, the current version is considered to pass under the existing test case, and the simulation test is finished.
Example 2:
the present embodiment is a simulation test method system for developing intelligent driving redundancy function, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the simulation test method for developing intelligent driving redundancy function as described in the foregoing embodiment is implemented.
Example 3:
the present embodiment is a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steps of the simulation test method for intelligent driving redundancy function development as described in the previous embodiments.
Claims (7)
1. A simulation test method for developing intelligent driving redundancy functions is characterized by comprising the following steps: when intelligent driving simulation is carried out to the stage that main function signals and CAN bus signals are input, part of signal interfaces are opened, part of signals are disconnected, the signals are connected into the original simulation environment after fault injection is carried out, and finally, the results of the observation interfaces are compared and verified according to the expected results of cases, so that whether the function logic of the redundancy system meets the requirements or not is tested.
2. The simulation test method for intelligent driving redundancy function development according to claim 1, specifically comprising the steps of:
s1, starting a redundancy function simulation test;
s2, opening a middle layer interface: adding an in-out function model in the algorithm module, so that a communication link between a signal and the RDF function module is disconnected, setting a signal fault code to be 10000, if the verification assignment of the signal is equal to the fault code, the signal normally communicates, and the original value of the signal is kept to be input to the RDF module;
s3, accessing a simulation environment: and if the checking assignment of the signal is not equal to the preset fault code, the signal is represented as a fault signal, the corresponding automatic test script reads the fault value of the signal from the step document, assigns the fault value to the signal in the module, and finally the signal input to the functional module is the coupling value of the fault signal and the corresponding constant.
3, S4, judging whether the simulation test is operated, and if the platform has errors, ending the simulation;
s5, if the simulation can be run, judging whether a simulation execution condition is reached, further considering whether the test process is Blocked, namely Block, when the execution condition is not met, when the Block condition is met, ending the simulation test by the system, and recording the Step and the condition of Block as Block _ Step;
s6, if the simulation execution condition is satisfied, fault injection is carried out, and the coupling value of the fault signal and the corresponding constant is given to the fault signal;
s7, judging whether the RDF test passing condition is met: performing signal retrieval and comparison verification on the observation interface, and judging whether the obtained observation interface signal meets the expectation of case summary;
s8, if the RDF simulation test is in accordance with the expectation, the RDF simulation test is normally carried out, the corresponding redundancy function logic algorithm is in accordance with the design requirement, and the case is recorded as Passed;
s9, if the result is different from the expected result, recording the case as Failed _ Step;
and S10, judging whether the step is the last step or not, if not, returning to the step 103, and if so, ending the simulation.
4. The simulation test method for intelligent driving redundancy function development according to claim 2, further comprising, after executing all test cases, performing statistical analysis on the test by using the search script of the simulation test platform, and issuing a corresponding test report, wherein if all case labels are Passed, the current version is considered to pass under the existing test case, and the simulation test is finished.
5. The simulation test method for development of intelligent driving redundancy functions according to claim 2, wherein before starting the redundancy function simulation test, a reasonable simulation test summary is planned for the redundancy system, and then a corresponding bus protocol is combined to build a simulation test step document, wherein the test step document information mainly comprises test conditions, an observation interface, execution operations, an input interface, Block conditions, passing conditions and the like.
6. A simulation test method system for intelligent driving redundancy function development, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the simulation test method for intelligent driving redundancy function development according to any one of claims 1 to 4 is implemented.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the simulation test method for intelligent driving redundancy function development according to any one of claims 1 to 4.
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