CN111123740A - Hardware-in-loop test method and device - Google Patents
Hardware-in-loop test method and device Download PDFInfo
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Abstract
The invention discloses a hardware-in-loop test method and a device, wherein the method comprises the following steps: receiving a vehicle position signal; determining a virtual map signal required by the test according to a preset vehicle driving look-ahead distance and a vehicle position signal; sending a virtual map signal and a vehicle simulation signal required by the test to a lower computer so that the lower computer tests the piece to be tested; the functional module operated in the upper computer comprises a map signal simulation module, and the map signal simulation module is configured in advance; the virtual map signals required by the test are recorded in the map signal simulation module. Through the technical scheme of the invention, the method at least does not depend on a map box, and does not need a real vehicle to test on a real road, thereby reducing the cost.
Description
Technical Field
The invention relates to the technical field of intelligent driving simulation tests, in particular to a hardware-in-loop test method and a hardware-in-loop test device.
Background
In the existing high-precision map HIL (Hardware-in-the-Loop) test, a map box or a message is generally used for providing a high-precision map signal so as to test the reaction of a device to be tested.
However, the conventional test method has the following problems:
first, the method for providing high-precision map signals by using a map box strongly depends on the normal operation of the map box, a map provider and a Global Positioning System (GPS), and requires a real vehicle to travel on a real road to provide high-precision map signals, so that the test cost is high and the efficiency is low. Secondly, the map box can only provide real and existing road information, but cannot provide customized road map information, for example, if a road with a certain specific customized condition is to be tested, the road is difficult to find in the real map. And thirdly, when the map box reappears the working condition, due to different driving environments, the same scene is difficult to be tested repeatedly, for example, the scene of the leftmost lane is tested, and the leftmost lane is difficult to be forced to run repeatedly and is not beneficial to driving safety. In addition, in the existing method, the high-precision map signal providing mode capable of reproducing the working condition is a message playback mode, but the message playback mode can only play messages simply, and in the driving system test process, the message content does not change along with the motion condition of the controller or the vehicle model, for example, the content of the map message cannot be updated according to the new position of the vehicle lane changing driving, so that the real-vehicle reaction effect of the driving system cannot be tested in a closed loop manner, and the method is not suitable for complex real-time vehicle control HIL test.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides a hardware-in-loop test method and a hardware-in-loop test device, which can be used for testing without depending on a map box and without running on a real road by a real vehicle, so that the cost is reduced.
The technical scheme of the invention is realized as follows:
according to one aspect of the invention, a hardware-in-loop testing method is provided, which is applied to an upper computer in a testing device, the testing device further comprises a lower computer, and the hardware-in-loop testing method comprises the following steps:
receiving a vehicle position signal;
determining a virtual map signal required by the test according to a preset vehicle driving look-ahead distance and a vehicle position signal;
sending a virtual map signal and a vehicle simulation signal required by the test to a lower computer so that the lower computer tests the piece to be tested;
the functional module operated in the upper computer comprises a map signal simulation module, and the map signal simulation module is configured in advance; the virtual map signals required by the test are recorded in the map signal simulation module.
According to an embodiment of the present invention, the virtual map signal includes a lane line, a toll gate, an overpass, and a traffic light; the configuration process of the map signal simulation module comprises the following steps: performing signal matching on the virtual map signal so that the virtual map signal conforms to a high-precision map protocol and a signal sending mode specified by a map box; adding a map signal simulation module to a programmable interface of the hardware-in-the-loop system; and creating a map signal IO configuration module, wherein the map signal IO configuration module is used for providing a configuration interface for transmitting the virtual map signal between the upper computer and the lower computer.
According to the embodiment of the invention, the configuration process of the map signal simulation module further comprises the following steps: setting configuration parameters; the configuration parameters comprise the driving look-ahead distance of the vehicle, the signal precision of the virtual map and the signal sending period of the virtual map.
According to the embodiment of the invention, the virtual map signals are divided into complex road signals and simple road signals according to the semaphore of various map signals required by the test; the virtual map signal required by the test is recorded in the map signal simulation module, and the method comprises the following steps: aiming at the complex road signals, recording the complex road signals in a map signal simulation module in a mode of automatic calculation and generation of configuration parameters; and directly recording specific signal positions in a map signal simulation module aiming at simple road signals.
According to the embodiment of the invention, the virtual map signal required by the test is sent to the lower computer, and the method comprises the following steps: judging whether a preset sending period is reached or a corresponding trigger signal is received aiming at each virtual map signal; if so, sending the independent small data packet section which is packaged in advance to the lower computer; wherein, the sending sequence and the packing sequence of the small data packet sections both accord with the sequence specified by the map box.
According to the embodiment of the present invention, the functional module operating in the upper computer further includes: the vehicle dynamic module and the first IO configuration module; the vehicle dynamics module, the map signal simulation module and the first IO configuration module operate in a first process; and the map signal IO configuration module runs in a second process.
According to another aspect of the present invention, there is provided a hardware-in-the-loop testing apparatus based on a high-precision map, including an upper computer and a lower computer connected in sequence, where a functional module operating in the upper computer includes:
the map signal simulation module is used for determining a virtual map signal required by the test according to a preset vehicle driving look-ahead distance and a vehicle position signal and sending the virtual map signal required by the test to a lower computer;
a vehicle dynamics module: the simulation system is used for simulating vehicle simulation signals and sending the vehicle simulation signals to the lower computer;
an IO configuration module: the system comprises an upper computer, a lower computer, a configuration interface, a data processing module and a data processing module, wherein the configuration interface is used for providing a configuration interface for signal transmission between the upper computer and the lower computer;
the map signal simulation module is configured in advance, and the virtual map signals required by the test are recorded in the map signal simulation module.
According to the embodiment of the invention, the IO configuration module comprises a map signal IO configuration module and a first IO configuration module; the vehicle dynamics module, the map signal simulation module and the first IO configuration module operate in a first process; and the map signal IO configuration module runs in a second process.
According to the embodiment of the invention, the functional module running in the lower computer comprises: the vehicle simulation signal calculation module: the vehicle simulation system is used for processing the received vehicle simulation signal; the map signal calculation module: the virtual map signal processing device is used for processing the received virtual map signal; map signal IO interaction module: the virtual map signal processing device is used for providing a configuration interface for the virtual map signal after transmission processing between the lower computer and the piece to be detected; a second IO configuration module: the vehicle simulation system is used for providing a configuration interface for the vehicle simulation signals after transmission processing between the lower computer and the piece to be tested.
Compared with the existing high-precision map test scheme for providing map signals by using a map box, the hardware-in-the-loop test method provided by the invention determines the virtual map signals required by the test through the preset vehicle driving look-ahead distance and vehicle position signals, can test the to-be-tested piece without depending on the map box, and does not need a real vehicle to test on a real road, thereby reducing the cost. Meanwhile, different roads can be independently created according to the test content to carry out the test, and compared with the prior scheme that a certain fixed working condition needs to be found in a real vehicle, the test is more flexible. In addition, the method is more beneficial to reappearing scenes, and the created map data packet can provide convenience for repeated tests in a certain specific scene. In addition, according to the map simulation test scheme, an independent map signal simulation and IO configuration flow is added to a traditional hardware-in-loop test, the content of a map signal can act on complex vehicle control, and the updating and sending of the map signal can be influenced by the self-vehicle reaction after the vehicle control, so that the complete hardware-in-loop control of the map signal can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a hardware-in-the-loop test apparatus according to an embodiment of the present invention;
FIG. 2 is a flow diagram of a hardware-in-the-loop testing method according to an embodiment of the invention;
FIG. 3 is a flow diagram of virtual map signal simulation according to an embodiment of the present invention;
fig. 4 is a flowchart of IO configuration and transmission of a virtual map signal according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
Fig. 1 is a schematic diagram of a hardware-in-the-loop testing apparatus based on a high-precision map according to an embodiment of the present invention. As shown in fig. 1, the upper computer 210 is responsible for programming control. In the programming control part, the functional modules of the general hardware-in-loop test system may include a vehicle dynamics module 211 and a first IO configuration module 213, and may further include a road definition and rendering module, and the hardware-in-loop vehicle test system is formed by the functional modules. The content of the programming control is compiled into an executable file and downloaded to the lower computer 220, and the lower computer 220 operates the executable file as a real-time system, processes the received signal, and transmits the processed signal to the to-be-tested piece.
On the basis, the invention provides a hardware-in-loop test method, which is applied to an upper computer 210 in a test device, and a pre-configured map signal simulation module 212 is added in the upper computer 210. The function of each functional block will be described in detail below in connection with the hardware-in-the-loop test method of the present invention.
FIG. 2 is a flow chart of a hardware-in-the-loop testing method according to an embodiment of the invention. Referring to fig. 1 and 2, the hardware-in-the-loop test method of the present invention is applied to an upper computer, and includes the following steps:
in step S11, a vehicle position signal is received.
The vehicle location signal may include a global coordinate location (or GPS coordinates) of the host vehicle on the road, a road-based location of the host vehicle, etc. and is used to describe the location of the host vehicle on the road during real-time operation. Generally, the vehicle position signal may be provided by a vehicle dynamics module in relation to the roadway.
And step S12, determining a virtual map signal required by the test according to the preset vehicle driving look-ahead distance and the vehicle position signal.
Step S13, sending the virtual map signal and the vehicle simulation signal required by the test to the lower computer 220, so that the lower computer 220 tests the to-be-tested object 230.
In the method, the functional module operated in the upper computer comprises a map signal simulation module 212 configured in advance, a virtual map signal required by the test is recorded in the map signal simulation module 212, the map signal simulation module 212 determines the virtual map signal required by the test according to a preset vehicle driving forward-looking distance and a vehicle position signal, and the virtual map signal comprises but is not limited to a lane line, a toll station, an overpass and a traffic light.
As shown in fig. 3, the configuration method of the map signal simulation module 212 includes:
s21: configuring a map data packet;
the map data packet comprises all required map contents in a measurable range of the road to be measured, and specifically comprises lane lines, lane layout, toll stations, overpasses and traffic lights.
The virtual map signals can be divided into complex road signals and simple road signals according to the semaphore of various map signals required by the test. The virtual map signals required for the test can thus be pre-recorded in the map signal simulation module 212 by one of the following ways:
1, for complex road signals with large data volume and difficult to directly fill in records, the complex road signals are recorded in the map signal simulation module 212 in a mode of automatic calculation and generation of configuration parameters. Specifically, calculating parameters related to the map content in the range to be measured are configured, and the map content in the range to be measured is obtained through calculation; for example, points of all lanes and lane lines of a road are recorded, a large number of lane line points can be calculated by configuring parameters such as length and curvature, and are stored in the map signal simulation module 212.
2, for a single simple road signal, a direct recording mode can be selected, and a specific signal position is directly recorded in the map signal simulation module 212. For example, the information of the gas station toll station can be directly recorded in the map signal simulation module 212 from a specific position on the road to a position with the toll station. In addition, in other embodiments, the map signal simulation module 212 may also adopt other manners of recording map data.
S22: performing signal matching on the virtual map signal so that the virtual map signal conforms to a high-precision map protocol and a signal sending mode specified by a map box;
various virtual map signals required in the test process are triggered to be updated and sent according to different types. The logic of the various types of virtual map signals and trigger signals may be defined by the map box specification and associated with the transmission of the virtual map signals. In one embodiment, if the signal is the position of a road line point on the map, how far the look-ahead distance of the vehicle is, how many meters or seconds every other time the number of the transmission of the map road line point signal and the road line point needs to be updated is set in the configuration parameters; the map signal simulation module 212 records all the positions of the lane line points of the lane; the signal matching part can inquire the map signal simulation module 212 according to the position of the vehicle on the road, take out the point of the road line position within the driving look-ahead distance of the vehicle from the map signal simulation module 212 according to the set driving look-ahead distance of the vehicle, generate and output a virtual map signal of the road line point, and send the virtual map signal to the lower computer. Also, the virtual map signal may be updated by setting an update condition, and the trigger signal may be updated if the update condition is satisfied (e.g., the lane line position is transmitted every 200 meters) while the virtual map signal is generated. Each time the trigger signal changes, for example, each rising edge, the corresponding IO interface is triggered to send out the virtual map signal.
In some embodiments, the virtual map signal may include high precision map protocol related map information and may encompass desired high precision map content. In other embodiments, the virtual map signal may include map content related to other protocols.
S23: adding the map signal simulation module 212 to the programmable interface of the hardware-in-the-loop system;
in the embodiment of the present invention, as shown in fig. 1, the calculation of the real-time hardware-in-loop real-time simulation system is regarded as a complete running program, and most hardware-in-loop real-time simulation systems provide a programmable interface, such as a Simulink simulation tool, a C language, or other programming mode interfaces. Therefore, in order to make the calculation process of the map signal simulation capable of calling the parameters of the in-process existing hardware-in-the-loop real-time simulation system, such as the vehicle speed of the vehicle, the position of the vehicle on the road, etc., and to improve the operability of the map signal simulation algorithm merged into the existing hardware-in-the-loop real-time simulation system, the map signal simulation module 212 may be added to the provided programmable interface. For stable acquisition of the vehicle dynamics-related parameters (such as vehicle speed, etc.), the calculation period of the map signal simulation module 212 may be kept consistent with the calculation period of the vehicle dynamics module or other control algorithms.
S24: the map signal IO configuration module 214 is created to use the map signal IO configuration module 214 as a configuration interface for transmitting the virtual map signal between the upper computer and the lower computer.
Independent of the IO configuration of the hardware-in-loop real-time simulation system, a new map signal IO configuration module 214 is created, which is used to provide a configuration interface for transmitting virtual map signals between the upper computer and the lower computer, and can transmit the virtual map signals based on a preset limit, such as a trigger limit and/or a period limit, and a fixed transmission period. As shown in fig. 1, in order to enable IO communication of the virtual map signal not to interfere with other IO communication and not to affect real-time performance of the original hardware simulation system, the first IO configuration module 213 is configured to provide a configuration interface for transmitting signals other than the virtual map signal between the upper computer and the lower computer, such as vehicle simulation signals.
The map signal IO configuration module 214 is independent of the first IO configuration module 213 of the existing hardware-in-the-loop system, and serves as a new running process (second process). The process may configure the virtual map signal transceiving process according to a high-precision map protocol or a specification of a map box, such as a period limit, a trigger limit, and the like. For example, the lane line information is transmitted once every 500 milliseconds, and the travel route may be transmitted once every 5 seconds as the cycle limit; and sending the information of the toll station once when the toll station is entered by the look-ahead distance of 1 kilometer every time as a trigger limit.
The configuration process of the map signal simulation module 212 further includes:
s25: setting configuration parameters to simulate input parameters;
the configuration parameters are parameters related to map performance and protocols, and the configuration parameters may be fixed values. The configuration parameters may include a vehicle driving look-ahead distance, a virtual map signal accuracy (e.g., a distance between each lane point, a number of position points describing a lane line or position, etc.), a virtual map signal transmission period, and the like.
Fig. 4 is a flowchart of transmitting a virtual map signal according to an embodiment of the present invention. As shown in fig. 4, the communication method and port of the upper computer and the lower computer are configured in advance in accordance with the communication method prescribed by the map box, and a general communication method such as TCP/UDP or CAN may be used. Then, in the process of program operation, a loop of sending virtual map signals is entered (generally, a sending loop goes through a fixed time period, which is recorded as delay time), in the loop, all kinds of virtual map signals are traversed, whether each kind of virtual map signals reaches a sending condition is judged, if yes, data is sent, and if not, whether the next kind of virtual map signals reaches the sending condition is judged. And after all the virtual map signals are traversed, waiting for the end of the delay time and entering the next cycle when the time required by the traversal is less than the delay time.
Each virtual map signal is independent to each other, corresponds to each small data packet segment, and judges whether the virtual map signal needs to be sent or not according to respective triggering mechanism and/or periodic timing mechanism.
Specifically, the virtual map signal required by the test can be sent to the lower computer through the following steps: judging whether a preset sending period is reached or a corresponding trigger signal is received aiming at each virtual map signal; and when the trigger signal or the preset sending period limit is met, sending the independent small data packet segment which is packed in advance to the lower computer. The small data packet segments are composed in advance in the order prescribed by the map box, and the transmission order of the small data packet segments also conforms to the order prescribed by the map box. In one example, a series of data corresponding to the toll station is packed into a plurality of small data packet segments in a prescribed sequence in advance, and if the rising edge of the trigger signal corresponding to the toll station is detected or the trigger signal is set to 1, the small data packet segments are sent. Otherwise, if the trigger limit or the period limit is not met, the next virtual map signal is continuously traversed, and whether the next virtual map signal meets the preset trigger mechanism or the preset period timing mechanism or not is judged. And calculating the residual time of the delay required for reaching the sending period according to the fixed sending period requirement until the required virtual map signals are traversed, and entering the next sending main cycle when the delay is finished (namely the fixed sending period is reached). Thus, each sending period can be ensured to be the same through time delay. In order to ensure that the system performance is not excessively occupied and each updating of the trigger signal is not missed, the operation cycle time of each cycle can be kept equal to or less than the cycle of the real-time calculation of the original simulation test and is fixed.
According to the technical scheme, in the real-time calculation of the hardware-in-loop test, the virtual map signals required by the test are determined through the added map signal simulation calculation process, and other hardware does not need to be added. Meanwhile, map signal IO configuration related to the virtual map signal is performed independently of IO configuration (input/output configuration) of the original hardware-in-loop test. Meanwhile, the signals calculated by the lower computer are sent to the device under test (e.g., a controller under test) 230 through the communication channel, and the device under test 230 feeds back some other signals.
In summary, compared with the existing high-precision map test scheme that a map box is used for providing a virtual map signal, the hardware-in-the-loop test method provided by the invention can remove the map box without depending on the map box by performing virtual map signal simulation, and does not need to perform a test on a real road by a real vehicle, thereby reducing the cost. Meanwhile, different working conditions can be independently created according to the test content to carry out the test, and compared with the prior scheme that a certain fixed working condition needs to be found in a real vehicle, the test is more flexible. In addition, the method is more beneficial to reappearing scenes, and the virtual map signal can provide convenience for repeated tests in a certain specific scene. In addition, according to the map simulation test scheme, an independent map signal simulation and IO configuration flow is added to a traditional hardware-in-loop test, the content of the virtual map signal can act on complex vehicle control, and the updating and sending of the virtual map signal can be influenced by the self-vehicle reaction after the vehicle control, so that the complete hardware-in-loop control of the map signal can be realized.
Referring to fig. 1 again, according to an embodiment of the present invention, there is also provided a hardware-in-the-loop testing apparatus based on a high-precision map, which includes an upper computer 210 and a lower computer 220 connected in sequence. Wherein, the functional module that operates in host computer 210 includes: a map signal simulation module 212, a vehicle dynamics module 211, and an IO configuration module.
The map signal simulation module 212 is configured to determine a virtual map signal required by the test according to a preset vehicle driving look-ahead distance and a vehicle position signal, and send the virtual map signal required by the test to the lower computer. The vehicle dynamics module 211 is used for simulating vehicle simulation signals and sending the vehicle simulation signals to the lower computer. The IO configuration module is used for providing a configuration interface for signal transmission between the upper computer and the lower computer. The map signal simulation module 212 is configured in advance, and the virtual map signals required by the test are recorded in the map signal simulation module 212.
According to an embodiment of the present invention, the IO configuration module includes a map signal IO configuration module 214 and a first IO configuration module 213. The vehicle dynamics module 211, the map signal simulation module 212, and the first IO configuration module 213 operate in a first process. The map signal IO configuration module 214 runs in the second process.
According to an embodiment of the present invention, the functional modules running in the lower computer 220 include: the vehicle simulation system comprises a vehicle simulation signal calculation module 221, a map signal calculation module 222, a map signal IO interaction module 224 and a second IO configuration module 223.
The vehicle simulation signal calculation module 221: the vehicle simulation system is used for processing the received vehicle simulation signal; the map signal calculation module 222: the virtual map signal processing device is used for processing the received virtual map signal; map signal IO interaction module 224: the virtual map signal processing device is used for providing a configuration interface for the virtual map signal after transmission processing between the lower computer and the piece to be detected; the second IO configuration module 223: the vehicle simulation system is used for providing a configuration interface for the vehicle simulation signals after transmission processing between the lower computer and the piece to be tested.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A hardware-in-loop test method is characterized by being applied to an upper computer in a test device, wherein the test device further comprises a lower computer, and the hardware-in-loop test method comprises the following steps:
receiving a vehicle position signal;
determining a virtual map signal required by the test according to a preset vehicle driving look-ahead distance and the vehicle position signal;
sending the virtual map signal and the vehicle simulation signal required by the test to a lower computer so that the lower computer tests the piece to be tested;
the functional module running in the upper computer comprises a map signal simulation module configured in advance; the virtual map signals required by the test are recorded in the map signal simulation module.
2. The hardware-in-the-loop test method of claim 1, wherein the virtual map signal comprises lane lines, toll booths, overpasses, and traffic lights;
the configuration process of the map signal simulation module comprises the following steps:
performing signal matching on the virtual map signal so that the virtual map signal conforms to a high-precision map protocol and a signal sending mode specified by a map box;
adding the map signal simulation module to a programmable interface of a hardware-in-the-loop system;
and creating a map signal IO configuration module, wherein the map signal IO configuration module is used for providing a configuration interface for transmitting the virtual map signal between the upper computer and the lower computer.
3. The hardware-in-loop test method of claim 2, wherein the configuration process of the map signal simulation module further comprises:
setting configuration parameters; the configuration parameters comprise the driving look-ahead distance of the vehicle, the virtual map signal precision and the virtual map signal sending period.
4. The hardware-in-the-loop test method of claim 2, wherein the virtual map signal is divided into a complex road signal and a simple road signal according to the semaphore of each type of signal required for a test;
the virtual map signal required by the test is recorded in the map signal simulation module, and the method comprises the following steps:
aiming at the complex road signals, recording the complex road signals in the map signal simulation module in a mode of automatic calculation and generation of configuration parameters;
and directly recording specific signal positions in the map signal simulation module aiming at the simple road signals.
5. The hardware-in-the-loop test method of claim 1, wherein sending the virtual map signal required for the test to a lower computer comprises:
judging whether a preset sending period is reached or a corresponding trigger signal is received aiming at each virtual map signal;
if so, sending the independent small data packet section which is packaged in advance to the lower computer;
and the sending sequence and the packing sequence of the small data packet segments both accord with the sequence specified by the map box.
6. The hardware-in-loop test method of claim 2, wherein the functional module running in the upper computer further comprises:
the vehicle dynamic module and the first IO configuration module;
the vehicle dynamics module, the map signal simulation module and the first IO configuration module operate in a first process;
and the map signal IO configuration module runs in a second process.
7. The utility model provides a hardware is at ring testing arrangement, includes host computer and the next computer of sequence connection, its characterized in that, the functional module of operation in the host computer includes:
the map signal simulation module is used for determining a virtual map signal required by the test according to a preset vehicle driving look-ahead distance and a vehicle position signal and sending the virtual map signal required by the test to the lower computer so that the lower computer can test the piece to be tested;
a vehicle dynamics module: the simulation system is used for simulating vehicle simulation signals and sending the vehicle simulation signals to the lower computer;
an IO configuration module: the system comprises an upper computer, a lower computer, a configuration interface, a data processing module and a data processing module, wherein the configuration interface is used for providing a configuration interface for signal transmission between the upper computer and the lower computer;
the map signal simulation module is configured in advance, and the virtual map signals required by the test are recorded in the map signal simulation module.
8. The hardware-in-loop test device of claim 7, wherein the IO configuration module comprises a map signal IO configuration module and a first IO configuration module;
the vehicle dynamics module, the map signal simulation module and the first IO configuration module operate in a first process;
and the map signal IO configuration module runs in a second process.
9. The hardware-in-loop test device of claim 8, wherein the functional module operating in the lower computer comprises:
the vehicle simulation signal calculation module: the vehicle simulation system is used for processing the received vehicle simulation signal;
the map signal calculation module: the virtual map signal processing device is used for processing the received virtual map signal;
map signal IO interaction module: the virtual map signal processing device is used for providing a configuration interface for the virtual map signal after transmission processing between the lower computer and the piece to be detected;
a second IO configuration module: the vehicle simulation system is used for providing a configuration interface for the vehicle simulation signals after transmission processing between the lower computer and the piece to be tested.
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