CN114489007A - Vehicle in-loop testing method, system, equipment and computer readable storage medium - Google Patents
Vehicle in-loop testing method, system, equipment and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system and equipment for testing the environment of a whole vehicle and a computer readable storage medium, belonging to the technical field of intelligent auxiliary driving. According to the invention, the input virtual environment information is obtained, the reference of the test scene is provided, so that the calculation is carried out based on the virtual environment information to obtain the control instruction, the control of the test real vehicle can be carried out under the scene corresponding to the virtual environment information, the operation of the test real vehicle is controlled according to the control instruction, the real vehicle attitude signal of the operation of the test real vehicle is obtained, the operation state of the test real vehicle under the control instruction is obtained, the vehicle attitude change of the virtual vehicle in the virtual scene is controlled according to the real vehicle attitude signal, and the attitude change of the virtual vehicle in the virtual scene is carried out through the real vehicle attitude signal to simulate the state of the test real vehicle in the virtual scene, so that the accuracy and the real-time performance of the whole vehicle test are improved, the construction of the actual scene is not needed, and the test cost is effectively reduced.
Description
Technical Field
The invention relates to the technical field of intelligent auxiliary driving, in particular to a method, a system and equipment for testing the environment of a whole vehicle and a computer readable storage medium.
Background
The whole Vehicle in-loop (Vehicle in the loop) testing technology is an important loop in the development process of the automatic driving function or the advanced auxiliary driving function, and can test the Vehicle dynamic performance of the developed automatic driving function and algorithm so as to verify the effectiveness, safety and reliability of the developed function and algorithm.
At present, two types of whole vehicle in-loop test schemes are common, one type is a combined simulation test based on a virtual scene and a virtual vehicle, and the whole system is simulated on a computer, for example, the combined simulation based on any virtual scene modeling software and vehicle dynamics simulation software. The other type is that in an enterprise laboratory, a real vehicle hub rack is built, a wheel speed measuring machine or a dynamometer is used for observing the wheel motion performance of a real vehicle, and the in-loop test of the whole vehicle is performed by combining virtual scene simulation software. How to reduce the test cost while ensuring the accuracy of the whole vehicle in the ring test and perfecting the multifaceted requirement of the whole vehicle in the ring test becomes the problem which needs to be solved urgently.
Disclosure of Invention
The invention mainly aims to provide a method, a system and equipment for testing a whole vehicle in a ring manner and a computer readable storage medium, and aims to solve the technical problems of reducing the testing cost and perfecting the multifaceted requirement of the whole vehicle in the ring testing while ensuring the accuracy of the whole vehicle in the ring testing.
In order to achieve the purpose, the invention provides an on-loop test method for a whole vehicle, which comprises the following steps:
acquiring input virtual environment information, and acquiring a control instruction based on the virtual environment information;
controlling the test real vehicle to run according to the control instruction, and acquiring a real vehicle attitude signal of the test real vehicle running;
and controlling the vehicle attitude change of the virtual vehicle in the virtual scene according to the real vehicle attitude signal.
Optionally, the step of acquiring the input virtual environment information includes:
determining virtual scene information in a preset scene library according to the input test requirement;
and determining virtual environment information in the virtual scene information.
Optionally, the step of obtaining a control instruction based on the virtual environment information includes:
determining an algorithm file in a preset algorithm library according to the input test requirement;
and executing the algorithm file according to the virtual environment information, and generating a control instruction based on an execution result of the algorithm file.
Optionally, the step of executing the algorithm file according to the virtual environment information includes:
monitoring whether input variable modification information exists in real time;
and if the input variable modification information is monitored, executing the algorithm file according to the variable modification information.
In addition, in order to achieve the above object, the present invention further provides a whole vehicle in-loop test system, including: a test real vehicle, a rapid prototyping machine and an upper computer,
the rapid prototyping machine is respectively connected with the test real vehicle and the upper computer, and is used for receiving virtual environment information sent by the upper computer, calculating based on the virtual environment information, generating a control instruction and sending the control instruction to the test real vehicle;
the test real vehicle is used for receiving the control instruction sent by the rapid prototyping machine and executing vehicle operation corresponding to the control instruction;
the upper computer is used for determining virtual scene information in a preset scene library according to the input test requirements, determining virtual environment information in the virtual scene information, and sending the virtual scene information to the rapid prototyping machine.
The rapid prototype is also used for acquiring the real vehicle attitude signal of the test real vehicle and sending the real vehicle attitude signal to the upper computer;
and the upper computer is also used for controlling the vehicle posture change of the virtual vehicle in the virtual environment according to the received real vehicle posture signal.
Optionally, the test vehicle comprises an on-board OBD port, an automatic driving function interface and a control module,
the test real vehicle receives the control instruction sent by the rapid prototyping machine through the vehicle-mounted OBD port, and forwards the control instruction to the control template through the automatic driving function interface, so that the control module controls the test real vehicle to execute the vehicle operation corresponding to the control instruction.
Optionally, the whole vehicle in-loop test system further comprises a lower computer,
the lower computer is connected with the rapid prototyping machine and used for determining an algorithm file in a preset algorithm library according to an input test requirement and downloading the algorithm file to the rapid prototyping machine;
the rapid prototyping machine is also used for executing the downloaded algorithm file according to the received virtual environment information and generating a control instruction based on the execution result of the algorithm file.
Optionally, the vehicle-in-loop test system further comprises a communication device,
the communication equipment is used for connecting the upper computer and the rapid prototyping machine.
In addition, in order to achieve the above object, the present invention further provides a whole vehicle in-loop testing device, where the whole vehicle in-loop testing device includes a memory, a processor, and a whole vehicle in-loop testing program stored in the memory and capable of running on the processor, where: the whole vehicle in-loop test program is executed by the processor to realize the steps of the whole vehicle in-loop test method.
In addition, in order to achieve the above object, the present invention further provides a computer readable storage medium, where a vehicle-in-vehicle loop test program is stored on the computer readable storage medium, and the vehicle-in-vehicle loop test method includes the steps when the vehicle-in-vehicle loop test program is executed by a processor.
The invention provides a whole vehicle in-loop test method, a system, equipment and a computer readable storage medium, which provide reference of a test scene by acquiring input virtual environment information, so that calculation is performed based on the virtual environment information to obtain a control instruction, control of a test real vehicle can be performed under a scene corresponding to the virtual environment information, the test real vehicle is controlled to operate according to the control instruction, a real vehicle attitude signal of the test real vehicle operation is acquired, an operation state of the test real vehicle corresponding to the control instruction is obtained, vehicle attitude change of a virtual vehicle in a virtual scene is controlled according to the real vehicle attitude signal, attitude change of the virtual vehicle in the virtual scene is performed through the real vehicle attitude signal to simulate the state of the test real vehicle in the virtual scene, the accuracy and the real-time performance of a whole vehicle test are improved, and construction of the actual scene is not required, effectively reducing the test cost.
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FIG. 1 is a schematic view of an application scenario of a vehicle-in-the-loop test system according to the present invention;
FIG. 2 is a schematic structural diagram of a vehicle-in-the-loop test system of the invention;
FIG. 3 is a schematic structural diagram of a vehicle-on-vehicle loop test device in a hardware operating environment according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a second embodiment of the vehicle-in-vehicle loop testing method according to the present invention.
The reference numbers illustrate:
the implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It is to be understood that, unless otherwise expressly stated or limited, the terms "connected" and "secured" are used broadly and encompass both fixed and removable connections, or integral parts thereof; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention provides a whole vehicle in-loop test System, which is characterized in that an automatic Driving System or an Advanced Driving Assistance System (ADAS) of a vehicle directly performs speed control and steering control of acceleration and deceleration on the vehicle by the automatic Driving System or the Advanced Driving Assistance System when the vehicle is in a working mode. The working principle of the automatic driving system is that environmental information of surrounding vehicles, pedestrians, obstacles, lane lines, traffic marks and the like is obtained by an environmental perception sensor such as a camera, a laser radar, a millimeter wave radar and the like carried on the vehicle, and corresponding positioning, decision and planning are automatically made according to a perception result, a control instruction is sent to the vehicle, and the motion attitude of the vehicle is controlled in real time. If the processes are all carried out in an actual real physical scene, real object construction is needed for some scene tests, the process of real object construction is high in cost and long in time, and the process has high danger when testing scenes such as accident scenes and the like. Therefore, in the whole vehicle-in-loop test system, aiming at the working processes of sensing, positioning, decision, planning and controlling of the automatic driving system, the sensing and positioning parts are virtual scenes, and the decision, planning and controlling processes are real objects, so that the whole vehicle-in-loop simulation of a virtual sensor and a real vehicle is realized.
Referring to fig. 1, in a first embodiment of the present invention, the whole vehicle-to-environment testing System includes a testing real vehicle, and the testing real vehicle has an automatic driving function interface, which is a signal interface reserved for a vehicle chassis ESP (Electronic Stability Program), a Power EMS (Engine Management System), and a Steering EPS (electric Power Steering) System to be able to respond to a CAN (Controller Area Network) signal control request of an automatic driving Area Controller or an ADAS Controller. The control request may include control commands for acceleration, braking, steering, and the like. The whole vehicle in-the-loop test system also comprises a quick prototype machine, wherein the quick prototype machine is used for operating automatic driving or ADAS algorithm software developed by developers, and has high real-time performance. In order to improve the compatibility of the whole vehicle in-loop test system, the product of the rapid prototype is not limited, and can be a microAutobox or a speedcoat, and can be replaced by an embedded controller platform. In this example, Speedcoat is used as an example for explanation. The rapid prototype machine is connected with a test vehicle through a vehicle-mounted OBD (On Board Diagnostics) port, can read a vehicle body posture signal, and sends a control instruction obtained according to a virtual environment information execution algorithm to the test real vehicle. The whole vehicle in-the-loop test system also comprises a lower Computer PC (Personal Computer), wherein the lower Computer PC is used for editing and compiling a software algorithm engineering file which can be operated in the Speedgoat and downloading the software algorithm engineering file into the Speedgoat, when the Speedgoat rapid prototype machine works, the lower Computer PC can read and display an intermediate variable result operated by the algorithm through a network cable, and can also perform real vehicle calibration on a calibration variable in the operated algorithm on line, and the lower Computer PC is also responsible for storing test data. The whole vehicle in-the-loop test system further comprises 1 upper computer PC, wherein the upper computer PC is responsible for running virtual scene simulation software, and the virtual scene simulation software in the embodiment is described by taking Prescan as an example. The Prescan changes the position of the corresponding virtual vehicle in the virtual scene in real time by receiving the motion attitude information of the test real vehicle, and transmits the virtual environment information in the current virtual scene to the Speedgoat through the CAN signal communication equipment. The whole vehicle in-the-loop test system also comprises a communication device which is a CAN signal communication device and is used for realizing information interaction of a Prescan virtual simulation environment in the rapid prototype and the upper computer PC. The CAN signal communication equipment CAN be CANoe, Kvaser and the like. Specifically, the CAN signal communication equipment is in CAN communication with the Speedgoat and in USB communication with the upper computer PC. In this embodiment, the test real vehicle includes a vehicle-mounted OBD port, an automatic driving function interface, and a control module, and the test real vehicle receives the control instruction sent by the rapid prototyping machine through the vehicle-mounted OBD port, and forwards the control instruction to the control template through the automatic driving function interface, so that the control module controls the test real vehicle to execute the vehicle operation corresponding to the control instruction. In one embodiment, the transmission of the control command may be performed through another interface.
In the embodiment, the Speedgoat rapid prototype is adopted, the characteristic of high real-time performance of the Speedgoat rapid prototype is utilized, the testing accuracy is improved, a graphics card GPU with high performance can be used when conditions allow, an upper computer of Prescan scene simulation software can be operated in a non-blocking mode in real time, a CPU with high performance can be used for processing a large amount of data transmitted by the Speedgoat through a network cable in real time to display and store the data, and the real-time performance and the effectiveness of the testing are ensured. And the simulation and algorithm operation of the virtual scene are respectively placed on the upper computer PC and the speedcoat by adopting a mode of combining the speedcoat rapid prototype with the upper computer PC and the lower computer PC, so that the two development works are independent and do not interfere with each other. For example, algorithm iteration development of automatic driving and scene development do not need to be integrated on matlab/simulink, development time is saved, and coupling of cooperative development work is reduced.
In one embodiment, the whole vehicle in-loop test system comprises a simulation industrial personal computer, CAN signal communication equipment and a test real vehicle, wherein prescan software, an automatic driving algorithm and data storage are simultaneously operated through simulation.
Referring to fig. 2, in this embodiment, the whole vehicle-on-loop test system 01 includes a test real vehicle 010, a rapid prototyping machine 020, an upper computer 030, and a lower computer 040, where the rapid prototyping machine 020 is connected to the test real vehicle 010, the upper computer 030, and the lower computer 040, respectively, and the lower computer 040 obtains a test requirement input by a user, determines a corresponding algorithm file in a preset algorithm library according to the test requirement, and downloads the algorithm file to the rapid prototyping machine 020. The upper computer 030 determines the virtual scene information in the preset scene library according to the test requirements input by the user, determines the virtual environment information in the virtual scene information, and sends the virtual scene information to the rapid prototyping machine 020. After downloading the algorithm file of the upper computer 030, the rapid prototyping machine 020 runs self-contained automatic driving or ADAS algorithm software, receives the virtual environment information sent by the upper computer 030, calculates based on the virtual environment information, generates a control instruction, sends the generated control instruction to the test real vehicle 010, and after receiving the control instruction sent by the rapid prototyping machine 020, the test real vehicle 010 executes the vehicle operation corresponding to the control instruction according to the control instruction. After executing the relevant vehicle operation, the upper computer 030 acquires the real vehicle attitude signal of the test real vehicle 010, and sends the real vehicle attitude signal to the upper computer 030, so that the upper computer 030 controls and adjusts the vehicle attitude of the virtual vehicle in the virtual scene according to the received real vehicle attitude signal. The whole vehicle on-ring testing system 01 further comprises a communication device 050, and the communication device 050 is used for connecting the upper computer 030 and the rapid prototyping machine 020.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a complete vehicle in-loop test device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 3, the vehicle in-loop test device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 3 is not intended to be limiting of a full vehicle in-the-loop test apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 3, the memory 1005, which is a computer-readable storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a vehicle in-loop test program.
In the vehicle-in-loop test device shown in fig. 3, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the vehicle-in-loop test device of the present invention may be arranged in the vehicle-in-loop test device, and the vehicle-in-loop test device calls the vehicle-in-loop test program stored in the memory 1005 through the processor 1001 and executes the vehicle-in-loop test method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for testing a finished automobile in a ring, and referring to fig. 4, fig. 4 is a schematic flow diagram of a second embodiment of the method for testing the finished automobile in the ring.
In this embodiment, the vehicle in-loop test method includes:
step S100, acquiring input virtual environment information, and obtaining a control instruction based on the virtual environment information;
in this embodiment, it should be noted that, when performing the in-loop test of the entire vehicle, the in-loop simulation of the entire vehicle using the "virtual sensor + real vehicle" is performed, and the test environment is established before the test is started, specifically, the in-loop test system includes a test real vehicle having an interface with an automatic driving function, a rapid prototyping machine for running the automatic driving or ADAS algorithm software developed by a developer, a lower computer PC for editing and compiling a software algorithm engineering file that can be run in the automatic driving or ADAS algorithm software of the rapid prototyping machine, an upper computer PC for running virtual scene simulation software, and a communication device for implementing information interaction between the rapid prototyping machine and the upper computer PC. When the whole vehicle in-loop test is carried out, a test scene of vehicle test is simulated in virtual scene simulation software running on an upper computer in a virtual mode, and the test scene comprises virtual vehicles and virtual environment information of vehicles, pedestrians, obstacles, lane lines, traffic marks and the like around the virtual vehicles. And sending a control instruction of an actual test vehicle, namely the test real vehicle, based on the virtual environment information corresponding to the virtual scene by using the rapid prototyping machine so as to control the motion of the test real vehicle, acquiring a real vehicle attitude signal of the test real vehicle in real time, and synchronizing the vehicle attitude of the virtual vehicle in the virtual scene according to the real vehicle attitude signal to adjust so as to realize the in-loop test of the whole vehicle. Specifically, the input virtual environment information is acquired, and a control instruction for the test real vehicle is obtained according to the virtual environment information. The environment information corresponding to the virtual scene may be a virtual scene formed by a developer inputting relevant parameters for a current test function, or a virtual scene set by a tester in advance according to a test case, or may be a virtual scene directly obtained from a preset scene library and corresponding to the current test function. The calculation according to the virtual scene information means executing a related automatic driving or ADAS algorithm, specifically an algorithm for controlling the vehicle to run.
Step S200, controlling the running of the test real vehicle according to the control instruction, and acquiring a real vehicle attitude signal of the running of the test real vehicle;
in the present embodiment, the control command is a command for controlling the operation of the vehicle, and includes control of vehicle speed control, braking, steering of the steering wheel, and the like of the vehicle. Specifically, the method refers to control commands sent to a chassis ESP system, a power EMS system and a steering EPS system of the vehicle so as to control the chassis ESP system and/or the power EMS system and/or the steering EPS system correspondingly. The real vehicle attitude signal is a real-time attitude signal of the test real vehicle executing the vehicle action according to the control instruction, and reflects the vehicle body attitude of the test real vehicle. Specifically, after the control instruction is determined, the test real vehicle is controlled to operate according to the control instruction, and a real vehicle attitude signal of the test real vehicle is obtained in real time.
And step S300, controlling the vehicle attitude change of the virtual vehicle in the virtual scene according to the real vehicle attitude signal.
In this embodiment, it should be noted that, a control instruction is provided to the test real vehicle through the virtual environment information in the virtual scene, a real vehicle attitude signal of the test real vehicle for executing the control instruction is obtained, and the vehicle attitude change of the virtual vehicle in the virtual scene is synchronized according to the real vehicle attitude signal of the test real vehicle, so that a possible vehicle state of the test real vehicle in the virtual scene can be simulated. Specifically, after acquiring a real vehicle attitude signal of a test real vehicle, virtual scene simulation software running in the upper computer PC controls vehicle attitude adjustment of a virtual vehicle in the virtual scene according to the real vehicle attitude signal.
In one embodiment, the vehicle-in-loop test method is applied to the vehicle-in-loop test system.
In this embodiment, the input virtual environment information is acquired, a reference of a test scenario is provided, so that calculation is performed based on the virtual environment information to obtain a control instruction, control over the test real vehicle can be performed in a scenario corresponding to the virtual environment information, then the test real vehicle is controlled to operate according to the control instruction, a real vehicle attitude signal of the test real vehicle operation is acquired, an operating state of the test real vehicle corresponding to the control instruction is obtained, vehicle attitude change of the virtual vehicle in the virtual scenario is controlled according to the real vehicle attitude signal, attitude change of the virtual vehicle in the virtual scenario is performed through the real vehicle attitude signal, a state of the test real vehicle in the virtual scenario is simulated, accuracy and real-time of a finished vehicle test are improved, building of the actual scenario is not needed, and test cost is effectively reduced.
Further, based on the second embodiment of the vehicle-in-loop testing method of the present invention, a third embodiment of the vehicle-in-loop testing method of the present invention is provided, where step S100 is to obtain input virtual environment information, and obtain a control instruction based on the virtual environment information, and includes:
step a, determining virtual scene information in a preset scene library according to an input test requirement;
and b, determining virtual environment information in the virtual scene information, and obtaining a control instruction based on the virtual environment information.
In this embodiment, it should be noted that the preset scene library is a scene library preset by virtual scene simulation software running in the PC or provided by the system, and the preset scene library has virtual scenes for different test scenes or test functions. The virtual environment information refers to environment information of surrounding vehicles, pedestrians, obstacles, lane lines, traffic signs, and the like in the virtual scene. The test requirements refer to the requirements of functions, scenes and the like which need to be tested, and are the basis for determining the test scenes. Specifically, an input test requirement is determined, virtual scene information in a preset scene library is determined according to the test requirement, virtual environment information corresponding to the virtual scene information is obtained, and a control instruction is obtained based on the virtual environment information.
In this embodiment, the control instruction is obtained according to the virtual environment information determined by the virtual scene information, so that the test real vehicle can run under the control instruction, the test real vehicle has a test scene basis, and the accuracy of the in-loop test of the whole vehicle is improved.
Further, the step of obtaining a control command based on the virtual environment information includes:
step c, determining an algorithm file in a preset algorithm library according to the input test requirement;
and d, executing the algorithm file according to the virtual environment information, and generating a control instruction based on the execution result of the algorithm file.
In this embodiment, it should be noted that the rapid prototyping machine is integrated with an automatic driving or ADAS algorithm software, and may be configured to execute the received algorithm file. The algorithm file is a software algorithm engineering file which can be executed by the rapid prototyping machine and is edited and compiled by a lower computer PC. And executing the algorithm file according to the virtual environment information to obtain a control instruction for controlling the test real vehicle. A developer can edit and compile different algorithm files aiming at different tests in a lower computer PC in advance to obtain the algorithm files aiming at different test requirements, associate each algorithm file with the test requirements, and store the associated algorithm files into a preset algorithm library. Specifically, the input test requirement is obtained, an algorithm file associated with the test requirement in a preset algorithm library is determined according to the test requirement, after the virtual environment information is imported into the algorithm file, the algorithm file is executed, an execution result is obtained, and a control instruction is generated according to the execution result.
In the embodiment, the control instruction is generated by executing the algorithm file corresponding to the test requirement, so that the automatic test is realized, and the test efficiency is effectively improved.
Further, the step of executing the algorithm file according to the virtual environment information includes:
step e, monitoring whether the input variable modification information exists in real time;
and f, if the input variable modification information is monitored, executing the algorithm file according to the variable modification information.
In this embodiment, it should be noted that the algorithm file includes a plurality of variable, function and other algorithm data, and when the algorithm file is executed, the corresponding algorithm data may be directly modified according to actual requirements. The variable modification information refers to input algorithm data information needing to be modified. And if the variable modification information exists, modifying the corresponding part in the algorithm file according to the variable modification information. Specifically, whether input variable modification information exists in the lower computer PC is monitored in real time, when the variable modification information is monitored, the algorithm file is modified according to the variable modification information, and the modified algorithm file is downloaded to the rapid prototyping machine, so that automatic driving or ADAS algorithm software in the rapid prototyping machine executes the modified algorithm file. It can be understood that when the algorithm file is executed, a lot of intermediate data can be generated, and the intermediate data can be stored and displayed, so that the data visualization and the data traceability are improved.
In the embodiment, the algorithm file is modified in real time according to the actual requirement, the algorithm file does not need to be rewritten for the change of the actual requirement during each test, the development workload of the algorithm file is reduced, the internal consumption is reduced, and the test working efficiency is improved.
In addition, the invention also provides a whole vehicle in-loop test device, which is characterized in that the whole vehicle in-loop test device comprises a memory, a processor and a whole vehicle in-loop test program which is stored in the memory and can run on the processor, wherein: the whole vehicle in-loop test program is executed by the processor to realize the whole vehicle in-loop test method in each embodiment of the invention.
In addition, the invention also provides a computer readable storage medium, wherein the whole vehicle in-loop test program is stored on the computer readable storage medium. The computer-readable storage medium may be the Memory 20 in the terminal in fig. 3, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, where the computer-readable storage medium includes several instructions to enable a whole vehicle in-loop test device with a processor to execute the whole vehicle in-loop test method according to the embodiments of the present invention.
It is to be understood that throughout the description of the present specification, reference to the term "one embodiment", "another embodiment", "other embodiments", or "first through nth embodiments", etc., is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, and includes several instructions for enabling a terminal device (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The method for testing the whole vehicle in the ring is characterized by comprising the following steps:
acquiring input virtual environment information, and acquiring a control instruction based on the virtual environment information;
controlling the test real vehicle to run according to the control instruction, and acquiring a real vehicle attitude signal of the test real vehicle running;
and controlling the vehicle attitude change of the virtual vehicle in the virtual scene according to the real vehicle attitude signal.
2. The vehicle-on-loop testing method of claim 1, wherein the step of obtaining the input virtual environment information comprises:
determining virtual scene information in a preset scene library according to the input test requirement;
and determining virtual environment information in the virtual scene information.
3. The vehicle-on-loop test method of claim 1, wherein the step of obtaining a control command based on the virtual environment information comprises:
determining an algorithm file in a preset algorithm library according to the input test requirement;
and executing the algorithm file according to the virtual environment information, and generating a control instruction based on an execution result of the algorithm file.
4. The vehicle-on-loop testing method of claim 3, wherein the step of executing the algorithm file according to the virtual environment information comprises:
monitoring whether input variable modification information exists in real time;
and if the input variable modification information is monitored, executing the algorithm file according to the variable modification information.
5. The utility model provides a whole car is at ring test system which characterized in that, whole car is at ring test system includes: a test real vehicle, a rapid prototyping machine and an upper computer,
the rapid prototyping machine is respectively connected with the test real vehicle and the upper computer, and is used for receiving virtual environment information sent by the upper computer, calculating based on the virtual environment information, generating a control instruction and sending the control instruction to the test real vehicle;
the test real vehicle is used for receiving the control instruction sent by the rapid prototyping machine and executing vehicle operation corresponding to the control instruction;
the upper computer is used for determining virtual scene information in a preset scene library according to an input test requirement, determining virtual environment information in the virtual scene information, and sending the virtual scene information to the rapid prototyping machine;
the rapid prototype is also used for acquiring the real vehicle attitude signal of the test real vehicle and sending the real vehicle attitude signal to the upper computer;
and the upper computer is also used for controlling the vehicle posture change of the virtual vehicle in the virtual environment according to the received real vehicle posture signal.
6. The vehicle-in-loop test system of claim 5, wherein the test vehicle comprises a vehicle-mounted OBD port, an autopilot function interface, and a control module,
the test real vehicle is passed through on-vehicle OBD mouth is received the control command that quick prototype sent, and pass through the autopilot function interface forwards control command extremely the control template, so that control module control the test real vehicle carries out the vehicle operation that control command corresponds.
7. The vehicle-in-loop test system of claim 5, wherein the vehicle-in-loop test system further comprises a lower computer,
the lower computer is connected with the rapid prototyping machine and used for determining an algorithm file in a preset algorithm library according to an input test requirement and downloading the algorithm file to the rapid prototyping machine;
the rapid prototyping machine is also used for executing the downloaded algorithm file according to the received virtual environment information and generating a control instruction based on the execution result of the algorithm file.
8. The vehicle-in-loop test system of claim 5, wherein the vehicle-in-loop test system further comprises a communication device,
the communication equipment is used for connecting the upper computer and the rapid prototyping machine.
9. The utility model provides a whole car is at ring test equipment which characterized in that, equipment includes: a memory, a processor and a full car in-loop test program stored on the memory and executable on the processor, the full car in-loop test program configured to implement the steps of the full car in-loop test method as claimed in any one of claims 1 to 4.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a full car in-loop test program, which when executed by a processor implements the steps of the full car in-loop test method of any one of claims 1 to 4.
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