CN110995548B - Method for testing validity of V2X protocol under boundary working condition - Google Patents
Method for testing validity of V2X protocol under boundary working condition Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L43/00—Arrangements for monitoring or testing data switching networks
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- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
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Abstract
The invention provides a method for testing the effectiveness of a V2X protocol under boundary working conditions, which comprises the following steps: receiving a configuration instruction, and forming a traffic scene road information sequence and a communication node; receiving a test sequence generation instruction, and forming a boundary working condition test sequence set and a V2X boundary working condition simulation scene component according to the traffic scene road information sequence and the communication nodes; receiving an analysis processing instruction, and analyzing and processing data in a time interval in real time according to a V2X message transceiving mode to form true value data and target data; and receiving a comparison test instruction, comparing the true value data with the target data, judging the effectiveness of the V2X protocol, and solving the problem that in the V2X protocol test under the actual condition, the boundary working condition similar to a real scene cannot be provided, the comparison analysis with the true value data cannot be realized, and the pain point which can be tested only by the intervention of V2X related hardware cannot be solved.
Description
Technical Field
The invention relates to the field of vehicle networking, in particular to a method for testing the effectiveness of a V2X protocol under a boundary working condition.
Background
V2X (Vehicle to outside) is the main direction of future intelligent internet automobiles and is a key technology for making a communication Vehicle pass through cooperation. Among them, the V2X protocol is the core of the technology. In order to ensure the stable, reliable and effective work of the V2X protocol, various parties are carrying out a series of tests on the protocol, including consistency test, scenario test, information security test, communication physical parameter test and the like, and meanwhile, the test means has been transited from manual test to automatic test. However, in the existing software automation test, the analysis and comparison test is mostly based on protocol messages, the application to the scenes in the protocol, especially the scenes under the boundary working condition, is tested in a mode of combining an entity and software, and an effective test formed only by software test cannot be provided; meanwhile, effective tests cannot be provided for boundary working conditions due to the influences of problems of few V2X facilities, test safety, incapability of collecting true value data and the like in real vehicle tests.
Disclosure of Invention
The invention provides a method for testing the validity of a V2X protocol under boundary working conditions, which aims to solve the problem that in the V2X protocol test under the actual condition, the boundary working conditions similar to real scenes cannot be provided, the comparative analysis with true value data cannot be realized, and pain points which can be tested only by the intervention of V2X related hardware cannot be provided.
The invention provides a method for testing the effectiveness of a V2X protocol under boundary working conditions, which comprises the following steps:
receiving a configuration instruction, and forming a traffic scene road information sequence and a communication node;
receiving a test sequence generation instruction, and forming a boundary working condition test sequence set and a V2X boundary working condition simulation scene component according to the traffic scene road information sequence and the communication nodes;
receiving an analysis processing instruction, and analyzing and processing data in a time interval in real time according to a V2X message transceiving mode to form true value data and target data;
and receiving a comparison test instruction, comparing the true value data with the target data, and judging the validity of the V2X protocol.
Preferably, the receiving the configuration command, forming the traffic scene road information sequence and the communication node, further includes:
receiving a scene road configuration instruction, and configuring a traffic scene road information sequence;
receiving a communication node configuration instruction, and configuring information sequences of a vehicle and roadside equipment to form a communication node;
preferably, the receiving a scene road configuration instruction, configuring a traffic scene road information sequence, includes:
and establishing a test road condition editing model, a vehicle information model and a roadside device information model to generate a traffic scene road information sequence.
Preferably, before receiving a test sequence generation instruction and forming a boundary condition test sequence set and a V2X boundary condition simulation scenario component according to the traffic scene road information sequence and the communication node, the method includes:
constructing a V2X direct connection communication mechanism model, and generating a V2X message protocol broadcast mode;
and packaging the traffic scene road information sequence and the communication node according to the V2X protocol requirements, and encoding and decoding the traffic scene road information sequence and the communication node.
Preferably, the method for constructing the V2X direct communication mechanism model and generating the V2X message protocol broadcast mode includes:
configuring a master node and a slave node;
configuring a radio frequency range, a radio frequency channel number, a signal bandwidth and a topological structure of a link channel in a node communication process;
and embedding the packaged V2X protocol into a V2X boundary condition simulation scene component to generate a V2X message protocol broadcast mode.
Preferably, the receiving, analyzing and processing instruction, analyzing and processing data in time intervals in real time according to the V2X messaging mode to form true value data and target data, further includes:
the data fed back according to the V2X messaging mode comprises the distance relation, the course angle relation, the direction relation, the event alarm condition and the like among the nodes in each time interval, and the data are recorded as a sequence according to the time stamps
Generating target data;
analyzing the data change relation among the nodes in real time, and according to the distance relation, course angle relation, azimuth relation and event early warning condition among the nodes, marking the data change relation as a truth value sequence according to the time stamp
And generating truth value data.
Preferably, receiving a comparison test command, comparing the true value data with the target data, and determining the validity of the V2X protocol, includes: according to
And
and comparing the data at the same time stamp to evaluate the validity of the V2X protocol.
The invention provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and is characterized in that the processor executes the computer program to realize the method for testing the validity of the V2X protocol under the boundary working condition.
The invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method for testing the validity of the V2X protocol under the boundary condition.
The invention has the beneficial effects that:
1) the invention solves the problem that in the V2X protocol test under the actual condition, the boundary working condition similar to a real scene cannot be provided, the comparative analysis with the true value data cannot be realized, and the pain point which can be tested only by the intervention of V2X related hardware cannot be solved.
2) The invention can effectively solve the problem of V2X protocol expansion, and along with the updating of the V2X standard and the expansion of the corresponding standard, the upgrading of related contents can be realized as required in the process of constructing the V2X boundary working condition simulation scene component, so that the V2X protocol is effectively perfected and is synchronously developed with the V2X product.
3) According to the invention, the V2X boundary condition simulation scene component is constructed, a required data source is provided for the V2X protocol, and meanwhile, the truth value data in the component and the result data fed back by the V2X protocol are analyzed in real time, so that the effectiveness of the V2X protocol is evaluated, and the test cost is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram illustrating a method for testing validity of a V2X protocol under boundary conditions according to an embodiment of the present application;
fig. 2 is a block diagram of a method for testing validity of a V2X protocol under boundary conditions according to an embodiment of the present application;
fig. 3 is a configuration diagram of a V2X boundary condition simulation scenario component provided in an embodiment of the present application.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
The invention provides a method for testing the validity of a V2X protocol under boundary working conditions, and fig. 1 is a schematic diagram of the method for testing the validity of the V2X protocol under boundary working conditions provided by the embodiment of the application, and as shown in fig. 1, the method comprises the following steps:
receiving a configuration instruction, and forming a traffic scene road information sequence and a communication node;
receiving a test sequence generation instruction, and forming a boundary working condition test sequence set and a V2X boundary working condition simulation scene component according to a traffic scene road information sequence and a communication node;
receiving an analysis processing instruction, and analyzing and processing data in a time interval in real time according to a V2X message transceiving mode to form true value data and target data;
and receiving a comparison test instruction, comparing the true value data with the target data, and judging the validity of the V2X protocol.
Further, receiving a configuration instruction, forming a traffic scene road information sequence and a communication node, further comprising:
receiving a scene road configuration instruction, and configuring a traffic scene road information sequence;
receiving a communication node configuration instruction, and configuring information sequences of a vehicle and roadside equipment to form a communication node;
further, before receiving a test sequence generation instruction and forming a boundary condition test sequence set and a V2X boundary condition simulation scenario component according to a traffic scene road information sequence and a communication node, the method includes:
constructing a V2X direct connection communication mechanism model, and generating a V2X message protocol broadcast mode;
and packaging the traffic scene road information sequence and the communication nodes according to the V2X protocol requirements.
Specifically, under a traffic scene road, vehicle and roadside device information sequences conforming to boundary conditions are configured to form communication nodes. And realizing the configuration of related data by constructing a boundary condition vehicle information model and a roadside device information model in the V2X boundary condition simulation scene component to form the input of a boundary test condition scene.
And then configuring a communication mechanism of each node under the boundary working condition to meet the V2X direct connection communication requirement, wherein the communication mechanism comprises a format, a message transmission mode and the like of V2X protocol messages, so as to simulate the data message condition of V2X communication.
Further, receiving a scene road configuration instruction, and configuring a traffic scene road information sequence, including:
and establishing a test road condition editing model, a vehicle information model and a roadside device information model to generate a traffic scene road information sequence.
Further, a V2X direct communication mechanism model is constructed, and a V2X message protocol broadcast mode is generated, including:
configuring a master node and a slave node;
configuring a radio frequency range, a radio frequency channel number, a signal bandwidth and a topological structure of a link channel in a node communication process;
and embedding the packaged V2X protocol into a V2X boundary condition simulation scene component to generate a V2X message protocol broadcast mode.
Specifically, the construction of a V2X boundary condition simulation scene component is completed, a boundary condition test sequence set is formed, and a V2X protocol is docked through a test interaction interface to perform test analysis.
Further, receiving an analysis processing instruction, analyzing and processing data in a time interval in real time according to the V2X messaging mode to form true value data and target data, further comprising:
the data fed back according to the V2X messaging mode comprises the distance relation, the course angle relation, the direction relation, the event alarm condition and the like among the nodes in each time interval, and the data are recorded as a sequence according to the time stamps
Generating target data;
analyzing the data change relation among the nodes in real time, and according to the distance relation, course angle relation, azimuth relation and event early warning condition among the nodes, marking the data change relation as a truth value sequence according to the time stamp
And generating truth value data.
Further, receiving a comparison test command, comparing the true value data with the target data, and determining the validity of the V2X protocol, including: according to
And
and comparing the data at the same time stamp to evaluate the validity of the V2X protocol.
It should be noted that, a method for testing the validity of the V2X protocol under the boundary condition requires that the V2X protocol has the following functions: the V2X protocol is provided with a test interaction interface, can receive related data of the vehicle node and a V2X protocol data packet, and outputs vehicle positioning and early warning, traffic signal lamp data and early warning, road side unit data and early warning, and road test safety unit data and early warning; the embedded V2X boundary condition simulation scene component can be supported.
Fig. 2 is a block diagram of a structure of a method for testing validity of a V2X protocol under boundary conditions according to an embodiment of the present application, and as shown in fig. 2, a specific testing method in the method for testing validity of a V2X protocol under boundary conditions is provided in the embodiment of the present application, as follows: the V2X protocol validity testing method under the boundary condition realizes the connection of the V2X protocol and the V2X boundary condition simulation scene component through an interactive interface. Embedding the packaged V2X protocol into a V2X boundary working condition simulation scene component, realizing the transmission of test data through a test interaction interface to finish the analysis of protocol validity, calling a receiving analysis processing instruction, analyzing and processing the data in a time interval in real time according to a V2X message receiving and sending mode, and forming a validity evaluation function of testing true value data and target data to analyze whether the protocol is valid.
The invention can effectively solve the problem of V2X protocol extension, and can realize the upgrading of related content as required in the process of constructing the V2X boundary working condition simulation scene component along with the updating of the V2X standard and the extension of the corresponding standard.
Example two
The invention provides a method for testing the effectiveness of a V2X protocol under boundary working conditions, which comprises the following steps:
receiving a configuration instruction, and forming a traffic scene road information sequence and a communication node;
receiving a test sequence generation instruction, and forming a boundary working condition test sequence set and a V2X boundary working condition simulation scene component according to a traffic scene road information sequence and a communication node;
receiving an analysis processing instruction, and analyzing and processing data in a time interval in real time according to a V2X message transceiving mode to form true value data and target data;
and receiving a comparison test instruction, comparing the true value data with the target data, and judging the validity of the V2X protocol.
Further, receiving a configuration instruction, forming a traffic scene road information sequence and a communication node, further comprising:
receiving a scene road configuration instruction, and configuring a traffic scene road information sequence;
receiving a communication node configuration instruction, and configuring information sequences of a vehicle and roadside equipment to form a communication node;
further, receiving a scene road configuration instruction, and configuring a traffic scene road information sequence, including:
and establishing a test road condition editing model, a vehicle information model and a roadside device information model to generate a traffic scene road information sequence.
Specifically, fig. 3 is a structural diagram of a V2X boundary condition simulation scenario component provided in the embodiment of the present application, and as shown in fig. 3, the embodiment of the present application provides a manner for constructing a V2X boundary condition simulation scenario component in a method for testing validity of a V2X protocol under a boundary condition, as follows: the road condition editing model, the vehicle information model and the roadside equipment information model can be tested through the visual interactive interface; meanwhile, the system comprises functions of a V2X direct connection communication mechanism model, a node data real-time analysis model, test effectiveness evaluation, test management, a test interaction interface and the like, and is used for being in butt joint with a V2X protocol;
the construction of the road model of the traffic scene under the boundary condition test can be carried out according to the actual map data of the road map, and the road map can be edited according to the test requirement. The constructed test road comprises lane attributes such as the length of the road, the driving direction of lanes, the number of lanes, the width of the lanes, the condition of lane markings, the curvature of the lanes, intersections and the like, and the condition of buildings around the road.
And constructing a boundary working condition vehicle information model, and setting corresponding vehicle running information on the edited road map. The running number of vehicles, the running state of each vehicle and the like are set on corresponding roads, and the vehicle sequence data set specifically comprises static data such as the number, the size and the vehicle type of each vehicle and dynamic data such as the vehicle position (longitude and latitude), the vehicle speed, the acceleration, the angular speed, the vehicle lamp and the vehicle engine fault at corresponding time intervals. Meanwhile, according to the boundary test requirements, vehicle events and working conditions which can meet the collision relation among vehicles can be set, and working conditions in which hundreds of vehicles and a plurality of dangerous working conditions occur simultaneously can be set to jointly form scene information of the vehicles under the boundary working conditions;
and constructing a boundary working condition road side equipment information model, selecting a road junction on the edited road map, and setting corresponding road side information. The system specifically comprises static data such as the serial number, longitude and latitude coordinates, traffic light positions, road events, speed limit signs, lane attributes and the like of roadside equipment, and a roadside sequence data set consisting of dynamic data such as road event distances, speed limit sign distances, traffic light changes and the like at corresponding intervals; and the traffic sequence data sets of pedestrians and non-motor vehicles at the intersection can also be set. Meanwhile, according to the boundary test requirements, trigger time points of corresponding things can be set, and boundary working condition scenes can be designed comprehensively by combining the driving boundary data of each vehicle.
And constructing a boundary working condition road side equipment information model, selecting a road junction on the edited road map, and setting corresponding road side information. The system specifically comprises static data such as the serial number, longitude and latitude coordinates, traffic light positions, road events, speed limit signs, lane attributes and the like of roadside equipment, and a roadside sequence data set consisting of dynamic data such as road event distances, speed limit sign distances, traffic light changes and the like at corresponding intervals; and the traffic sequence data sets of pedestrians and non-motor vehicles at the intersection can also be set. Meanwhile, according to the boundary test requirements, trigger time points of corresponding things can be set, and boundary working condition scenes can be designed comprehensively by combining the driving boundary data of each vehicle.
Constructing a V2X direct connection communication mechanism model, including configuration selection of master and slave nodes, configuration of communication modes such as a radio frequency range, a radio frequency channel number, a signal bandwidth, a topological structure of a link channel and the like in the node communication process, and creating a V2X message protocol broadcast mode; meanwhile, the set boundary working condition data is subjected to coding, decoding, packaging and packaging processing of the message according to the requirements of a V2X protocol;
the node data real-time analysis model analyzes the data change relation among all the nodes in real time according to a certain time interval, including the distance relation, course angle relation, orientation relation, event early warning condition and the like among the data of the node and all the nodes, and records the data change relation as a truth value sequence according to a timestamp
。
The effectiveness evaluation of the test, namely the real-time comparison evaluation of the processing result of the V2X protocol, and the received real-time processing result of the V2X protocol, including the distance relation, the course angle relation, the orientation relation, the event alarm condition and the like of each node in each time interval, are recorded as a sequence according to the time stamps
By passing
And
and whether the data results under the same time stamp are the same or not is judged to judge whether the processing result of the V2X protocol is valid or not, and the result data with deviation is annotated so as to judge the validity of the V2X protocol under the current boundary working condition.
And test management, including managing the version of the V2X protocol, the currently tested boundary working condition data set, the test time, the data comparison analysis record in the test process, the data sequence marking of the test result lacking effectiveness, the evaluation of the test result and the like.
The test interaction interface is used for data interaction with a V2X protocol, the V2X boundary condition simulation scene component completely follows a data packet structure of V2X direct connection communication and is divided into a vehicle OBU node and a road side RSU node, wherein the OBU sends a BSM data packet, and the RSU sends an MAP \ SPAT \ RSI \ RSM data packet.
Further, receiving an analysis processing instruction, analyzing and processing data in a time interval in real time according to the V2X messaging mode to form true value data and target data, further comprising:
the data fed back according to the V2X messaging mode comprises the distance relation, the course angle relation, the direction relation, the event alarm condition and the like among the nodes in each time interval, and the data are recorded as a sequence according to the time stamps
Generating target data;
analyzing the data change relation among the nodes in real time, and according to the distance relation, course angle relation, azimuth relation and event early warning condition among the nodes, marking the data change relation as a truth value sequence according to the time stamp
And generating truth value data.
Further, receiving a comparison test command, comparing the true value data with the target data, and determining the validity of the V2X protocol, including: according to
And
and comparing the data at the same time stamp to evaluate the validity of the V2X protocol.
The embodiment of the invention also provides computer equipment, which is used for solving the problem that in the V2X protocol test under the actual condition, boundary working conditions similar to real scenes cannot be provided, comparative analysis with true value data cannot be realized, and pain points which can be tested only by the intervention of V2X related hardware cannot be provided.
An embodiment of the present invention further provides a computer-readable storage medium, for solving the pain point that in a V2X protocol test under a real condition, a boundary condition similar to a real scene cannot be provided, a comparative analysis with true value data cannot be realized, and the test must be performed only by intervention of hardware related to V2X, where the computer-readable storage medium stores a computer program for executing the method for testing the validity of the V2X protocol under the boundary condition.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A method for testing the validity of a V2X protocol under boundary conditions, comprising:
receiving a configuration instruction, and forming a traffic scene road information sequence and a communication node;
receiving a test sequence generation instruction, and forming a boundary working condition test sequence set and a V2X boundary working condition simulation scene component according to the traffic scene road information sequence and the communication nodes;
receiving an analysis processing instruction, and analyzing and processing data in a time interval in real time according to a V2X message transceiving mode to form true value data and target data; wherein, include: data fed back according to the V2X messaging mode, the fed back data including distance relationships, heading angle relationships, orientation relationships and event alarm conditions between nodes within each time interval, in a sequence time-stamped
Generating target data; analyzing the data change relation among the nodes in real time, and according to the distance relation, course angle relation, azimuth relation and event early warning condition among the nodes, marking the data change relation as a truth value sequence according to the time stamp
Generating truth value data;
and receiving a comparison test instruction, comparing the true value data with the target data, and judging the validity of the V2X protocol.
2. The method for testing the validity of the V2X protocol under the boundary condition of claim 1, wherein the receiving of the configuration command and the formation of the traffic scene road information sequence and the communication node comprises: receiving a scene road configuration instruction, and configuring a traffic scene road information sequence; and receiving a communication node configuration instruction, and configuring the vehicle and roadside equipment information sequence to form a communication node.
3. The method for testing the validity of the V2X protocol under the boundary condition according to claim 2, wherein the receiving a scene road configuration command, configuring a traffic scene road information sequence, comprises:
and establishing a test road condition editing model, a vehicle information model and a roadside device information model to generate a traffic scene road information sequence.
4. The method for testing the validity of the V2X protocol under the boundary conditions of claim 1, wherein before receiving the test sequence generation instruction, forming a boundary condition test sequence set and a V2X boundary condition simulation scenario component according to the traffic scenario road information sequence and the communication node, the method comprises:
constructing a V2X direct connection communication mechanism model, and generating a V2X message protocol broadcast mode;
and packaging the traffic scene road information sequence and the communication node according to the V2X protocol requirements, and packaging the coded data and the decoded data of the traffic scene road information sequence and the communication node.
5. The method for testing the validity of the V2X protocol under the boundary condition of claim 4, wherein constructing a V2X direct communication mechanism model to generate a V2X message protocol broadcast mode comprises:
configuring a master node and a slave node;
configuring a radio frequency range, a radio frequency channel number, a signal bandwidth and a topological structure of a link channel in a node communication process;
and embedding the packaged V2X protocol into a V2X boundary condition simulation scene component to generate a V2X message protocol broadcast mode.
6. The method for testing the validity of the V2X protocol under the boundary operating condition as claimed in claim 1, wherein receiving a comparison test command, comparing the true value data with the target data, and determining the validity of the V2X protocol includes: and evaluating the validity of the V2X protocol according to the data comparison result of the true value data Truth _ Seq and the target data Obj _ Seq under the same time stamp.
7. A computer device comprising a processor and a memory, the memory having stored thereon a computer program operable on the processor, wherein the processor, when executing the computer program, implements the method for testing the validity of the V2X protocol under boundary conditions as claimed in any one of claims 1 to 6.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the method of testing the validity of the V2X protocol under boundary conditions as claimed in any one of claims 1 to 6.
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| CN111683348B (en) * | 2020-05-26 | 2023-02-07 | 招商局检测车辆技术研究院有限公司 | Method, device and system for testing scale performance of V2X security application |
| CN111857094B (en) * | 2020-07-17 | 2021-10-22 | 联陆智能交通科技(上海)有限公司 | System and method for testing software by vehicle-mounted unit |
| CN114440909A (en) * | 2020-11-03 | 2022-05-06 | 阿里巴巴集团控股有限公司 | Data processing method, device, equipment and storage medium |
| CN113162825B (en) * | 2021-04-15 | 2022-08-26 | 中国软件评测中心(工业和信息化部软件与集成电路促进中心) | Internet of vehicles communication quality evaluation method, device and system and storage medium |
| CN113660139B (en) * | 2021-08-17 | 2023-02-07 | 云控智行(上海)汽车科技有限公司 | V2X protocol consistency detection method based on multiple message layer communication |
| CN114244741B (en) * | 2021-12-16 | 2023-11-14 | 阿波罗智联(北京)科技有限公司 | Link testing method, device, system, electronic equipment and storage medium |
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