CN114355791B - Simulation test method, system and storage medium for intelligent driving redundancy function - Google Patents
Simulation test method, system and storage medium for intelligent driving redundancy function Download PDFInfo
- Publication number
- CN114355791B CN114355791B CN202111596797.2A CN202111596797A CN114355791B CN 114355791 B CN114355791 B CN 114355791B CN 202111596797 A CN202111596797 A CN 202111596797A CN 114355791 B CN114355791 B CN 114355791B
- Authority
- CN
- China
- Prior art keywords
- signal
- simulation
- test
- simulation test
- intelligent driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Test And Diagnosis Of Digital Computers (AREA)
Abstract
The invention relates to a simulation test method, a system and a storage medium for intelligent driving redundancy function development, which are used for opening part of signal interfaces when intelligent driving simulation is carried out to the stage of inputting main function signals and CAN bus signals, disconnecting part of signals, carrying out fault injection on the signals, and then accessing the signals into the original simulation environment. 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 of signals are not changed, only the expectation of the signals injected with faults is changed, the scene of occurrence of the real faults is effectively simulated, the redundant function closed-loop test based on the model in the loop is formed, the test reliability is improved, and the test efficiency is improved through an MIL automatic test method.
Description
Simulation test method, system and storage medium for intelligent driving redundancy function
Technical Field
The invention is used in the field of intelligent driving automobile simulation test, and more particularly relates to a model in-loop simulation test method for intelligent driving redundancy function development.
Background
Redundancy is a common technical term of an airplane at the earliest, and means that electronic control systems of the airplane are subjected to safe backup, so that the situation that one set of systems suddenly breaks down to influence the normal operation of the airplane and threaten the life safety of passengers is prevented. Likewise, intelligent driving of cars on the ground is today also a handhold requiring redundant functionality. When the intelligent driving system of the automobile guarantees normal operation of the intelligent driving system, redundant control of the intelligent driving system must be considered to ensure that the redundant control system takes effect to guarantee safety of the automobile and drivers and passengers under the condition of single control system faults.
From the perspective of intelligent driving function safety, except for dangerous scene processing of limit working conditions (such as falling rocks, construction roads or car accidents and the like) in the environment, scenes which are more important to be focused on failure problem processing of a controller and an actuator are focused in the research and development field of an intelligent driving system. The long-safety automobile L3 redundant function research and development team focuses on the redundant function design of the failure problem of the intelligent driving system controller of the automobile. But because the fault injection mode is adopted at the front end of the system in the research and development verification process, redundant signals required 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 unreliable, 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 the above, the present invention is to design a simulation test method, a system and a computer readable storage medium for intelligent driving redundancy function development, and to combine with an MILs automation test method to improve the efficiency of simulation test under the basic condition of improving the reliability of the simulation test.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a simulation test method for intelligent driving redundancy function development, which is characterized in that when intelligent driving simulation is carried out to a stage of inputting a main function signal and a CAN bus signal, a part of signal interfaces are opened, a part of signals are disconnected, and then the signals are connected into an original simulation environment after fault injection is carried out on the signals. 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 of signals are not changed, only the expectation of the signals injected with faults is changed, the scene of occurrence of the real faults is effectively simulated, and the redundancy function closed-loop test based on the model in the loop is formed. The reliability of the test is improved, and the efficiency of the test is also improved by an MIL automatic test method.
Further, the simulation test method specifically comprises the following steps:
s1, starting redundancy function simulation test.
S2, opening an interface of an intermediate layer: an in-out function model is added in the algorithm module, so that a communication link between the signal and the RDF function module is disconnected, a signal fault code is set to 10000, if the check 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.
S3, accessing the simulation environment: if the check assignment of the signal is not equal to the preset fault code, the signal is indicated to be a fault signal, the corresponding automatic test script reads the fault value of the signal from the step document, the fault value is assigned 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.
S4, judging whether a simulation test is operated, and ending the simulation if the platform is in error.
S5, if the simulation can be run, judging whether a simulation execution condition is reached, if the execution condition is not met, further considering whether the test process is Blocked, namely Block, and if the Block condition is met, ending the simulation test by the system, and recording the Step of the Block and the condition as blocked_step.
And S6, if the simulation execution condition is met, fault injection is carried out, and the fault signal is given to the coupling value of the fault signal and the corresponding constant.
S7, judging whether the RDF test passing condition is met or not: and carrying out signal retrieval and comparison verification on the observation interface, and judging whether the obtained observation interface signal accords with the expectation of the case overview.
And S8, if the test meets the expectation, the RDF simulation test is normally performed, 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, recording the case as failed_step.
S10, judging whether the step is in the last step, if not, returning to the step 103, and if so, ending the simulation.
On the other hand, the invention also provides a simulation test method system for intelligent driving redundancy function development, which comprises a processor and a memory, wherein the memory is stored with a computer program, and the computer program realizes the simulation test method for intelligent driving redundancy function development when being executed by the processor.
In yet another aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a simulation test method for intelligent driving redundancy function development as described above.
The invention has the advantages that: the fault signals are injected in the simulation process, so that most normal signal input for intelligent driving simulation is reserved, fault signals required by cases are manufactured, and the reliability of the redundant function test result is greatly improved.
Drawings
FIG. 1 is a flow chart of a method for testing a redundancy function in a loop.
Detailed Description
The invention is further described below by way of example with reference to the accompanying drawings and the development of redundant functions of the long-safety L3-level intelligent driving system, and the design logic framework of the invention can be clearly understood by reading the following and technical flow diagrams. The main technical points of the invention are shown in the form of a flow chart, the readability of the invention is perfected, and the reader can learn and review conveniently.
The development of the redundancy function of the long-safety L3-level intelligent driving system is focused on the problem of failure of a driving system controller, so the testing focus is on the following two parts: firstly, whether the functional logic of the redundant system is normal or not can make correct feedback response to the controller after receiving the fault injection signal, so that the safety of the whole intelligent driving system is ensured. Secondly, how to do not influence other signals and complete fault injection of partial signals when an interface of the middle layer is opened in the simulation process. Therefore, the simulation test suitable for the long-safety intelligent driving redundancy function has the main ideas that: and (3) fault injection is carried out by opening the interface of the middle layer in a skillful way, and comparison verification is carried out according to the expected result of the case and the result of the observation interface, so as to test whether the functional logic of the redundant system meets the requirement. And the test results are fed back to a research and development team to jointly promote iteration and development of the redundant system.
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 test method for redundancy function simulation test, including the steps of:
s1, starting simulation: by adopting the method, before the redundancy function simulation test is started, a reasonable simulation test overview is required to be drawn up for the redundancy system, and then a simulation test step document is built by combining a corresponding bus protocol. The test step document information is mainly divided into test conditions, observation interfaces, execution operations, input interfaces, block conditions, passing conditions and the like.
S2, opening an interface of an intermediate layer: the open middle layer interface is performed in an algorithm model, specifically in a Changan L3 algorithm module, an in-out function model is added, so that a communication link between a signal and an RDF function module is disconnected. And a signal fault code is set as 10000, if the check 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.
S3, if the checking assignment of the signal is not equal to the preset fault code, the signal is indicated to be a fault signal. The corresponding automated 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 (preset to-10000). Thereby realizing the function of only changing the input value of the expected fault signal in the simulation process.
S4, judging whether simulation is operated or not: whether the simulation runs or not is checked once for the simulation test platform, if the platform is in error, the simulation is finished immediately, and the error is reported to remind testers to trace to the source for searching and modifying.
S5, if the simulation can be run, judging the execution condition of the simulation once. When the execution condition is not satisfied, whether the test process is blocked, i.e., block, is considered. When the Block condition is met, the system ends the simulation test, and the Step where the Block is located and the condition are recorded as the blocked_step.
S6, injecting fault signals in simulation. The assignment of fault signals is changed after fault injection, which also means that the redundant system can make corresponding feedback operation. Therefore, signal retrieval and comparison verification are required to be performed on the observation interface to determine whether the obtained observation interface signal meets the expectations of the case overview, that is, the conditions for passing the test.
S7, the passing condition part consists of a serial number, a requirement ID, a judging time, a judging condition and an interface. And the simulation test of the model in the loop is realized by using a scene file, a model and an algorithm, a whole vehicle model and a signal monitoring port. The application of the signal monitoring port is particularly increased in the simulation test so as to realize dynamic signal monitoring and related signal recording.
And S8, if the test meets the expectation, the RDF simulation test is normally performed, 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, the functional logic related to the case of the redundant system is wrong, and the corresponding RDF algorithm is modified. The case is recorded as Failed Step and fed back to the development team for modification by the tester. The purpose of simulation test is achieved.
S10, after all test cases are executed, carrying out statistical analysis on the test by using the retrieval script of the simulation test platform, and providing a corresponding test report. If all the case labels are Passed, the current version is considered to pass under the existing test cases, and the simulation test is ended.
Example 2:
the embodiment is a simulation test method system for intelligent driving redundancy function development, which comprises a processor and a memory, wherein the memory stores a computer program, and the computer program realizes the simulation test method for intelligent driving redundancy function development according to the previous embodiment when being executed by the processor.
Example 3:
the present embodiment is a computer-readable storage medium having stored thereon a computer program 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 embodiment.
Claims (5)
1. A simulation test method for intelligent driving redundancy function development is characterized by comprising the following steps: when intelligent driving simulation is carried out to a stage of inputting a main function signal and a CAN bus signal, a part of signal interfaces are opened, a part of signals are disconnected, then the signals are connected into an original simulation environment after fault injection, and finally, comparison verification is carried out according to expected results of cases and results of observation interfaces, so that whether the function logic of a redundant system meets the requirements is tested;
the method specifically comprises the following steps:
s1, starting redundancy function simulation test;
s2, opening an interface of an intermediate layer: an in-out function model is added in the algorithm module, so that a communication link between a signal and the RDF function module is disconnected, 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 function module;
s3, accessing the simulation environment: if the checking and assignment of the signal are 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, and assigns the fault value to the signal in the RDF functional module, and finally the signal input to the RDF functional module is the coupling value of the fault signal and the corresponding constant;
s4, judging whether a simulation test is operated, and ending simulation if the platform is in error;
s5, if the simulation can be run, judging whether a simulation execution condition is reached, if the execution condition is not met, further considering whether the test process is Blocked, namely Block, and if the Block condition is met, ending the simulation test by the system, and recording the Step of the Block and the condition of the Block as blocked_step;
s6, if the simulation execution conditions are met, fault injection is carried out, and a fault signal and a coupling value of a corresponding constant are given to the fault signal;
s7, judging whether the test passing condition of the RDF functional module is met or not: signal retrieval and comparison verification are carried out on the observation interface, and whether the obtained observation interface signal accords with the expectation of the case overview is judged;
s8, if the simulation test of the RDF function module is in accordance with the expectation, the simulation test of the RDF function module is normally performed, the corresponding redundant 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;
s10, judging whether the step is in the last step, if not, returning to the step 103, and if so, ending the simulation.
2. The simulation test method for intelligent driving redundancy function development according to claim 1, further comprising, after all test cases are executed, performing statistical analysis on the test by using a search script of the simulation test platform, and if all case labels are Passed, considering that the current version is considered to pass under the existing test cases, and ending the simulation test.
3. The simulation test method for intelligent driving redundancy function development according to claim 1, wherein before starting redundancy function simulation test, a reasonable simulation test overview is required to be drawn up for a redundancy system, and then a corresponding bus protocol is combined to build a simulation test step document, wherein test step document information is mainly divided into test conditions, observation interfaces, execution operations, input interfaces, block conditions, pass conditions and the like.
4. A simulation test method system for intelligent driving redundancy function development, characterized by comprising a processor and a memory, wherein the memory stores a computer program, and the computer program, when executed by the processor, implements the simulation test method for intelligent driving redundancy function development according to any one of claims 1-3.
5. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the simulation test method for intelligent driving redundancy function development as claimed in any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596797.2A CN114355791B (en) | 2021-12-24 | 2021-12-24 | Simulation test method, system and storage medium for intelligent driving redundancy function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596797.2A CN114355791B (en) | 2021-12-24 | 2021-12-24 | Simulation test method, system and storage medium for intelligent driving redundancy function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114355791A CN114355791A (en) | 2022-04-15 |
| CN114355791B true CN114355791B (en) | 2023-06-02 |
Family
ID=81101869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111596797.2A Active CN114355791B (en) | 2021-12-24 | 2021-12-24 | Simulation test method, system and storage medium for intelligent driving redundancy function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114355791B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4977529A (en) * | 1973-02-23 | 1990-12-11 | Westinghouse Electric Corp. | Training simulator for a nuclear power plant |
| JPH09185557A (en) * | 1995-12-26 | 1997-07-15 | Motorola Inc | Redundant memory and data processor using redundant memory |
| FI20115104A0 (en) * | 2011-02-02 | 2011-02-02 | Teknologian Tutkimuskeskus Vtt Oy | SYSTEM AND METHOD FOR MODEL-BASED TESTING |
| CN102323761A (en) * | 2011-07-18 | 2012-01-18 | 铁道部运输局 | Semi-physical simulation testing platform of train control network |
| CN102935849A (en) * | 2012-09-29 | 2013-02-20 | 南京恩瑞特实业有限公司 | Redundancy input and output achievement system of vehicle-mounted signal equipment |
| CN109747615A (en) * | 2018-02-13 | 2019-05-14 | 重庆长安汽车股份有限公司 | Automatic driving vehicle braking system and control method |
| CN110618910A (en) * | 2019-08-27 | 2019-12-27 | 中国第一汽车股份有限公司 | Test system and method |
| CN210466051U (en) * | 2019-07-11 | 2020-05-05 | 中国人民解放军总参谋部第六十研究所 | Fault injection test system for redundant flight control computer |
| GB202011901D0 (en) * | 2020-07-30 | 2020-09-16 | Imagination Tech Ltd | Methods and systems for fault injection testing of an integrated circuit hardware design |
| CN113218677A (en) * | 2021-06-15 | 2021-08-06 | 吉林大学 | Hardware-in-loop test bed and test method for redundant braking system |
| CN113742220A (en) * | 2021-08-12 | 2021-12-03 | 重庆长安汽车股份有限公司 | Simulation test method in forward development process of limited automatic driving system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112824229B (en) * | 2019-11-20 | 2023-01-17 | 中国商用飞机有限责任公司 | Avionics function test testing system |
-
2021
- 2021-12-24 CN CN202111596797.2A patent/CN114355791B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4977529A (en) * | 1973-02-23 | 1990-12-11 | Westinghouse Electric Corp. | Training simulator for a nuclear power plant |
| JPH09185557A (en) * | 1995-12-26 | 1997-07-15 | Motorola Inc | Redundant memory and data processor using redundant memory |
| FI20115104A0 (en) * | 2011-02-02 | 2011-02-02 | Teknologian Tutkimuskeskus Vtt Oy | SYSTEM AND METHOD FOR MODEL-BASED TESTING |
| CN102323761A (en) * | 2011-07-18 | 2012-01-18 | 铁道部运输局 | Semi-physical simulation testing platform of train control network |
| CN102935849A (en) * | 2012-09-29 | 2013-02-20 | 南京恩瑞特实业有限公司 | Redundancy input and output achievement system of vehicle-mounted signal equipment |
| CN109747615A (en) * | 2018-02-13 | 2019-05-14 | 重庆长安汽车股份有限公司 | Automatic driving vehicle braking system and control method |
| CN210466051U (en) * | 2019-07-11 | 2020-05-05 | 中国人民解放军总参谋部第六十研究所 | Fault injection test system for redundant flight control computer |
| CN110618910A (en) * | 2019-08-27 | 2019-12-27 | 中国第一汽车股份有限公司 | Test system and method |
| GB202011901D0 (en) * | 2020-07-30 | 2020-09-16 | Imagination Tech Ltd | Methods and systems for fault injection testing of an integrated circuit hardware design |
| CN113218677A (en) * | 2021-06-15 | 2021-08-06 | 吉林大学 | Hardware-in-loop test bed and test method for redundant braking system |
| CN113742220A (en) * | 2021-08-12 | 2021-12-03 | 重庆长安汽车股份有限公司 | Simulation test method in forward development process of limited automatic driving system |
Non-Patent Citations (2)
| Title |
|---|
| 柴油机电控系统软件测试设计及用例复用方法研究;杨薇;曹春芳;姚素娟;申晓彦;姜晓博;闫云艳;;自动化仪表(第09期);第79-82页 * |
| 电动汽车VCU故障诊断系统开发与测试;杜德清;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》(第09（2016）期);第C035-245页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114355791A (en) | 2022-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Deb et al. | QSI's integrated diagnostics toolset | |
| US7200543B2 (en) | Method for fault analysis using simulation | |
| CN113515105A (en) | Platform, method and storage medium for vehicle expected function safety simulation test | |
| JP2014203314A (en) | ECU simulation device | |
| CN113341917B (en) | Internet of vehicles remote control end cloud integrated automatic test system and method | |
| CN111580501A (en) | Test equipment and method for vehicle electronic stability system | |
| CN108646713A (en) | Based on CANoe to the analogue system of P grades of director demon logic checkings | |
| CN114355791B (en) | Simulation test method, system and storage medium for intelligent driving redundancy function | |
| CN112860587B (en) | UI automatic test method and device | |
| CN108920846B (en) | Risk coupling analysis method for complex operation scene of train control system of high-speed rail | |
| Tsuji et al. | Prioritizing scenarios based on STAMP/STPA using statistical model checking | |
| CN111830935A (en) | Metamorphic test method for automatic driving system | |
| CN114115168A (en) | Fault injection test system | |
| CN115470132A (en) | Test method, device, equipment and medium for automatic driving data recording system | |
| CN113703419B (en) | Automatic testing method and device for redundancy management algorithm of flight control system | |
| CN116401980A (en) | Automatic simulation verification method and system for full working condition of circuit schematic diagram | |
| CN115328771A (en) | Fault testing method, device, equipment and medium of testing tool | |
| CN108762227B (en) | Automatic driving test system and method | |
| CN208654634U (en) | Based on CANoe to the analogue system of P grades of director demon logic checkings | |
| CN113495545A (en) | System and method for testing vehicle equipment controller using in-loop hardware | |
| CN112597007A (en) | Embedded software integration test integrity analysis method | |
| KR20050084453A (en) | Method for diagnosis of functional faults in a functional architecture | |
| CN113535547B (en) | Test method based on functional safety | |
| Mouzakitis et al. | Automated fault diagnostics testing for automotive Electronic Control Units deploying Hardware-in-the-Loop | |
| CN105335177A (en) | Test method, test device and test system of embedded system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |