CN111459816A - Fault injection test method, device, system and storage medium - Google Patents
Fault injection test method, device, system and storage medium Download PDFInfo
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- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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Abstract
The application discloses a fault injection testing method, a fault injection testing device, a fault injection testing system and a storage medium, and relates to the technical field of automatic driving. The specific implementation scheme of the method in the application is as follows: acquiring original data from a data source file; modifying the original data according to a configuration strategy to obtain construction data; and generating a corresponding control instruction according to the construction data so that an electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. The vehicle offline data drive test system can perform fault injection test in the vehicle offline data drive test process, realizes that the reaction of each module of the vehicle is tracked when any controllable moment breaks down, is suitable for deployment and development of various large-scale test cases, and is high in test efficiency and closer to a real fault scene.
Description
Technical Field
The present application relates to an automatic driving technology in the field of data processing technologies, and in particular, to a fault injection testing method, device, system, and storage medium.
Background
With the development of the automatic driving technology, safety test items aiming at the automatic driving vehicle are more and more. Before the vehicle is taken out, various functions of the vehicle need to be tested off line.
In the prior art, a fixed abnormal data source test is generally adopted, or a single message simulation test scheme is adopted. The fixed abnormal data source test is to extract the message in the record file (data source file) to perform abnormal construction, and then to store the message for test. The single message simulation test is carried out by constructing abnormal data of a certain message type and then injecting the abnormal data into a driving module for testing.
However, the above method needs to consume a lot of time for constructing the exception of the data source file, and occupies a lot of memory space, and the constructed exception data has a single type and a limited number, and is not suitable for a test scenario of multi-point failure.
Disclosure of Invention
The application provides a fault injection test method, a fault injection test device, a fault injection test system and a storage medium, which can be used for carrying out fault injection test in a vehicle offline data drive test process, realize that when a fault occurs at any controllable moment, the reaction of each module of a vehicle is tracked, are suitable for deployment and development of various large-scale test cases, have high test efficiency and are closer to a real fault scene.
In a first aspect, an embodiment of the present application provides a fault injection testing method, where the method includes:
acquiring original data from a data source file;
modifying the original data according to a configuration strategy to obtain construction data;
and generating a corresponding control instruction according to the construction data so that an electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction.
In this embodiment, original data is obtained from a data source file; modifying the original data according to a configuration strategy to obtain construction data; and generating a corresponding control instruction according to the construction data so that an electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. Therefore, fault injection test can be carried out in the vehicle off-line data drive test process, and the reaction of each module of the automatic driving vehicle system is tracked in real time when a fault occurs at any controllable moment in the normal operation process, so that the fault occurrence scene of a real vehicle is more approximate. The method can be suitable for rapid and large-scale test case deployment and development, and saves time and cost.
In a second aspect, an embodiment of the present application provides a fault injection testing apparatus, where the apparatus includes:
the acquisition module is used for acquiring original data from a data source file;
the modification module is used for modifying the original data according to a configuration strategy to obtain construction data;
and the test module is used for generating a corresponding control instruction according to the construction data so as to enable an electronic control unit of the vehicle to execute a test task of each function of the vehicle according to the control instruction.
In this embodiment, the obtaining module is configured to obtain original data from a data source file, and input the original data according to a data format of a system under test to drive the system under test to operate normally. And the modification module modifies the original input in real time according to the configuration strategy after acquiring the original input and outputs an abnormal message of a certain fault type to the tested system. The system to be tested in this embodiment is an automatic driving system, and is referred to as a system to be tested here for short. The test system can comprise an acquisition module, a modification module and a test module; the test module can detect and judge the test task besides controlling the test task. For example, after fault injection occurs, the functional response of the vehicle is judged, and whether the processing response of the automatic driving system to the type fault is in accordance with safety expectation is detected.
In this embodiment, original data is obtained from a data source file; modifying the original data according to a configuration strategy to obtain construction data; and generating a corresponding control instruction according to the construction data so that an electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. Therefore, fault injection test can be carried out in the vehicle off-line data drive test process, and the reaction of each module of the automatic driving vehicle system is tracked in real time when a fault occurs at any controllable moment in the normal operation process, so that the fault occurrence scene of a real vehicle is more approximate. The method can be suitable for rapid and large-scale test case deployment and development, and saves time and cost.
In a third aspect, the present application provides a fault injection testing system, comprising: a processor and a memory; the memory stores executable instructions of the processor; wherein the processor is configured to perform the fault injection testing method of any of the first aspects via execution of the executable instructions.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the fault injection testing method of any one of the first aspects.
In a fifth aspect, an embodiment of the present application provides a program product, where the program product includes: a computer program stored in a readable storage medium from which at least one processor of a server can read the computer program, execution of the computer program by the at least one processor causing the server to perform the fault injection testing method of any one of the first aspects.
In a sixth aspect, an embodiment of the present application provides a fault injection testing method, where the method includes:
modifying original data in a data source file according to a configuration strategy to obtain construction data;
and generating a corresponding control instruction according to the construction data so that an electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction.
In the embodiment, the original data in the data source file is modified according to the configuration strategy to obtain the construction data; and generating a corresponding control instruction according to the construction data so that an electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. Therefore, fault injection test can be carried out in the vehicle off-line data drive test process, and the reaction of each module of the automatic driving vehicle system is tracked in real time when a fault occurs at any controllable moment in the normal operation process, so that the fault occurrence scene of a real vehicle is more approximate. The method can be suitable for rapid and large-scale test case deployment and development, and saves time and cost.
One embodiment in the above application has the following advantages or benefits: the method can be used for carrying out fault injection test in the vehicle off-line data drive test process, realizes that the reaction of each module of the vehicle is tracked when a fault occurs at any controllable moment, is suitable for deployment and development of various large-scale test cases, has high test efficiency, and is closer to a real fault scene. Because the original data is obtained from the data source file; modifying the original data according to a configuration strategy to obtain construction data; the corresponding control instruction is generated according to the construction data, so that an electronic control unit of the vehicle executes a technical means of testing tasks of various functions of the vehicle according to the control instruction, the technical problems that the existing abnormal construction of a data source file needs to consume a large amount of time, occupies a large amount of memory space, is single in type of constructed abnormal data, limited in quantity and not suitable for a test scene with multiple faults are solved, and the technical effects that when faults occur at any controllable moment, the reaction of various modules of the vehicle is tracked, the method is suitable for deployment and development of various large-scale test cases, the test efficiency is high, and the method is closer to the technical effect of a real fault scene.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a schematic diagram of a fault injection testing method that may implement embodiments of the present application;
FIG. 2 is a schematic diagram according to a first embodiment of the present application;
FIG. 3 is a schematic diagram of an anomaly data construction according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an exception message period according to an embodiment of the present application;
FIG. 5 is a schematic diagram of fault type partitioning according to an embodiment of the present application;
FIG. 6 is a schematic diagram according to a second embodiment of the present application;
FIG. 7 is a schematic illustration according to a third embodiment of the present application;
FIG. 8 is a block diagram of a fault injection test system used to implement embodiments of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, 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.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
With the development of the automatic driving technology, safety test items aiming at the automatic driving vehicle are more and more. Before the vehicle is taken out, various functions of the vehicle need to be tested off line. In the prior art, a fixed abnormal data source test is generally adopted, or a single message simulation test scheme is adopted. The fixed abnormal data source test is to extract the message in the record file to perform abnormal construction, and then to store the abnormal construction for testing. The single message simulation test is carried out by constructing abnormal data of a certain message type and then injecting the abnormal data into a driving module for testing. However, the above method needs to consume a lot of time for constructing the exception of the data source file, and occupies a lot of memory space, and the constructed exception data has a single type and a limited number, and is not suitable for a test scenario of multi-point failure.
In view of the above technical problems, the present application provides a fault injection testing method, device, system and storage medium, which can perform fault injection testing during a vehicle offline data driving test process, and realize tracking of reactions of each module of a vehicle when a fault occurs at any controllable moment.
Fig. 1 is a schematic diagram of a principle of a fault injection testing method that can implement the embodiment of the present application, and as shown in fig. 1, a data source file is generally pre-recorded drive test data, and positioning data, environmental image data, and point cloud data can be extracted from a data source file. In the normal operation process of the original data, messages are firstly sent from a data source file (record), the messages mainly comprise input messages of sensing and positioning, sensing and positioning results are output to a decision planning module after the input messages are sorted by a positioning module and a sensing module, and the decision planning module sends the decision results to a control module to generate control messages and sends the control messages to a vehicle chassis. In the method provided by this embodiment, content and frequency control capability of all messages can be realized under the condition of an offline data driving test only by adding three nodes in the whole data flow process, so as to realize fault injection capability of the whole system. One of the modification modules can perform frequency, time delay, frame loss and content configuration on the original data, modify the original data to obtain first abnormal data, construct timeliness abnormal data of message transmission and message integrity abnormal data, and transmit the first abnormal data to the positioning module and the sensing module. The message transmission timeliness abnormal data is used for carrying out time sequence abnormal test and frequency abnormal test; the message integrity and correctness abnormal data is used for carrying out BIT BIT jump test, message truncation test, field item missing test and field value error test. Wherein, the time sequence abnormity test comprises: delay test, disorder test, frame loss test and repeated test; the field value error test includes: non-scene semantic errors, scene semantic errors. And the sensing module generates traffic signal lamp data and obstacle data according to the first abnormal data and/tf data. And then the other modification module can modify the traffic signal lamp data and the barrier data to obtain second abnormal data and transmit the second abnormal data to the decision control module. After the positioning module receives the first abnormal data, the positioning data are obtained through analysis, and then the positioning data can be transmitted to the automobile bus agent module according to the set frequency, so that the automobile bus agent module generates vehicle state data. And then the other modification module can obtain third exception data through modifying the vehicle state data and transmit the third exception data to the decision control module. And finally, generating a corresponding control instruction by the decision planning module and the control module according to the second abnormal data and/or the third abnormal data. The three intermediate nodes are actually functionally identical, i.e. perform exception construction, such as timing exception construction and content exception construction, on messages exchanged between the respective modules. By extracting the original data of the data source file, the construction of abnormal data of the original data can be conveniently carried out subsequently.
The method can solve the technical problems that the existing abnormal construction of the data source file needs to consume a large amount of time, occupies a large amount of memory space, is single in type and limited in quantity of constructed abnormal data, and is not suitable for a multi-point fault test scene, achieves the technical effect that when a fault occurs at any controllable moment, the reaction of each module of a vehicle is tracked, is suitable for deployment and development of various large-scale test cases, is high in test efficiency, and is closer to a real fault scene.
Fig. 2 is a schematic diagram of a first embodiment of the present application, and as shown in fig. 2, the method in this embodiment may include:
s101, acquiring original data from a data source file.
And S102, modifying the original data according to the configuration strategy to obtain the construction data.
And S103, generating a corresponding control instruction according to the construction data so that the electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction.
In this embodiment, original data is obtained from a data source file; modifying the original data according to the configuration strategy to obtain construction data; and generating a corresponding control instruction according to the construction data so that the electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. Therefore, fault injection test can be carried out in the vehicle off-line data drive test process, and the reaction of each module of the automatic driving vehicle system is tracked in real time when a fault occurs at any controllable moment in the normal operation process, so that the fault occurrence scene of a real vehicle is more approximate. The method can be suitable for rapid and large-scale test case deployment and development, and saves time and cost.
For example, in step S101, raw data may be acquired from a data source file during the vehicle offline data driving test, where the raw data includes: positioning data, environment image data and point cloud data.
Specifically, the data source file is generally pre-recorded drive test data, and positioning data, environment image data, and point cloud data can be extracted from the data source file. These raw data are in turn transmitted to various modules of the autonomous vehicle system (e.g., a positioning module, a perception module, a decision-making planning module, a control module, a vehicle bus agent module, etc.) during normal operation.
In the embodiment, the original data is extracted from the data source file, so that the abnormal data can be conveniently constructed on the original data subsequently, and the data type of the abnormal construction is more flexible and changeable.
For example, in step S102, a configuration policy for the original data may be determined, the configuration policy including: frequency configuration, time delay configuration, frame loss configuration and content configuration; according to the configuration strategy, modifying the original data to obtain first abnormal data, wherein the first abnormal data comprises: and transmitting the time-dependent abnormal data of the first message and the integrity and correctness abnormal data of the first message.
In this embodiment, the frequency, the delay, the frame loss, and the content configuration may be performed on the original data, so as to construct the time-dependent abnormal data for message transmission and the message integrity and correctness abnormal data. The message transmission timeliness abnormal data is used for carrying out time sequence abnormal test and frequency abnormal test; the message integrity and correctness abnormal data is used for carrying out BIT BIT jump test, message truncation test, field item missing test and field value error test. Wherein, the time sequence abnormity test comprises: delay test, disorder test, frame loss test and repeated test; the field value error test includes: non-scene semantic errors, scene semantic errors. Therefore, various different types can be constructed, the abnormal data of the actual complex scene can be met, and the test effect is more real.
In an optional implementation manner, after the first abnormal data is analyzed and processed, traffic signal light data and obstacle data are obtained; modifying the traffic signal lamp data and the barrier data according to a configuration strategy to obtain second abnormal data, wherein the second abnormal data comprises: and transmitting the time-dependent abnormal data of the second message and transmitting the complete correctness abnormal data of the second message.
In this embodiment, the first abnormal data is stored in the message cache, and is transmitted to the positioning module and the sensing module according to the message receiving requirements of the positioning module and the sensing module; the positioning module combs the received first abnormal data and then sends/tf data to the sensing module; and the sensing module generates traffic signal lamp data and obstacle data according to the first abnormal data and/tf data. And then, modifying the traffic signal lamp data and the obstacle data to obtain second abnormal data. Therefore, abnormal data can be constructed between the sensing module and the decision planning module, and the diversification of fault injection is realized.
In another alternative embodiment, vehicle state data may be obtained after the first abnormal data is analyzed and processed; modifying the vehicle state data according to the configuration strategy to obtain third exception data, wherein the third exception data comprises: and the time-efficiency abnormal data transmitted by the third message and the complete correctness abnormal data of the third message.
In this embodiment, after the positioning module receives the first abnormal data, the positioning data is obtained through analysis, and then the positioning data can be transmitted to the automobile bus agent module according to the set frequency, so that the automobile bus agent module generates the vehicle state data. Third anomaly data is then obtained by modification of the vehicle state data. Therefore, abnormal data can be constructed between the automobile bus agent module and the decision planning module, and the diversification of fault injection is realized.
Fig. 3 is a schematic diagram of an exception data structure according to an embodiment of the present application, and as shown in fig. 3, the exception data structure mainly includes three threads, where thread 1 and thread 2 may be executed in parallel, and thread 3 is an independent thread. And the thread 1 acquires data from the source file, reads the strategy configuration file of the thread 2 to obtain constructed abnormal data, and stores the abnormal data into a cache. And the thread 3 reads data from the cache and sends the data to the next module according to the timing requirement configured in the thread 2.
Fig. 4 is a schematic diagram of an exception message cycle according to an embodiment of the present application, and as shown in fig. 4, first, an abstraction is performed for an occurrence time of an interface fault, where the abstraction mainly includes a cycle, an interval, and a frequency of the fault occurrence, where cycles in the diagram are the frequency of the fault occurrence, each time lasts for a period, a duration in each period is a fault duration, a cyclegood is a non-fault time, that is, a fault interval, and cfg1 and cfg2 may be different fault types. Different fault occurrence time effects can be flexibly constructed through the design.
For example, in step S103, a corresponding control command may be generated according to the second abnormal data and/or the third abnormal data.
In the embodiment, different forms of abnormal data can be constructed between different modules simultaneously, so that multi-node and multi-type fault injection is realized, the fault test scene is closer to a real fault scene, the method is suitable for deployment and development of various large-scale test cases, and the test efficiency is high.
Optionally, the test task comprises: timing sequence abnormity test, frequency abnormity test, BIT BIT jump test, message truncation test, field item missing test and field value error test; wherein, the time sequence abnormity test comprises: delay test, disorder test, frame loss test and repeated test; the field value error test includes: non-scene semantic errors, scene semantic errors.
Specifically, fig. 5 is a schematic diagram of fault type division according to an embodiment of the present application, and as shown in fig. 5, common fault types mainly include two types, namely, an abnormality of timeliness of message transmission and an abnormality of integrity and correctness of a message. The message transmission timeliness exception comprises time delay, disorder, frame loss, repetition, frequency exception and the like, the message integrity correctness exception comprises byte (BIT BIT) jumping, field item missing, field value error and the like, and the field value error comprises semantic error and non-semantic error. By the method provided by the embodiment, the data can be subjected to frequency, time delay, frame loss and content configuration, so that time-dependent abnormal data of message transmission and abnormal data of message integrity and correctness can be constructed, and test tasks such as time sequence abnormal test, frequency abnormal test, BIT BIT jump test, message truncation test, field item missing test, field value error test and the like can be realized. Through abstract design of the time and type of the fault, case writing in a configurable mode is realized, iterative verification can be rapidly carried out on a certain fault in a parameter adjusting mode, and finally regression testing is carried out in a highly automated mode; a large amount of memory space is saved, a group of data source files can be subjected to various abnormal tests in different configuration modes, and each case is not required to store one group of data tests.
In the embodiment, original data is acquired from a data source file; modifying the original data according to the configuration strategy to obtain construction data; and generating a corresponding control instruction according to the construction data so that the electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. Therefore, the technical problems that the existing abnormal construction of the data source file needs to consume a large amount of time, occupies a large amount of memory space, is single in type of constructed abnormal data, limited in quantity and not suitable for a test scene of multi-point faults are solved, the reaction of each module of the vehicle is tracked when any controllable moment fails, the method is suitable for deployment and development of various large-scale test cases, high in test efficiency and closer to the technical effect of a real fault scene.
FIG. 6 is a schematic diagram according to a second embodiment of the present application; as shown in fig. 6, the apparatus in this embodiment may include:
an obtaining module 31, configured to obtain original data from a data source file;
the modification module 32 is configured to modify the original data according to the configuration policy to obtain configuration data;
and the test module 33 is configured to generate a corresponding control instruction according to the configuration data, so that the electronic control unit of the vehicle executes a test task for each function of the vehicle according to the control instruction.
In this embodiment, the obtaining module is configured to obtain original data from a data source file, and input the original data according to a data format of a system under test to drive the system under test to operate normally. And the modification module modifies the original input in real time according to the configuration strategy after acquiring the original input and outputs an abnormal message of a certain fault type to the tested system. The system to be tested in this embodiment is an automatic driving system, and is referred to as a system to be tested here for short. The test system can comprise an acquisition module, a modification module and a test module; the test module can detect and judge the test task besides controlling the test task. For example, after fault injection occurs, the functional response of the vehicle is judged, and whether the processing response of the automatic driving system to the type fault is in accordance with safety expectation is detected.
In this embodiment, original data is obtained from a data source file; modifying the original data according to the configuration strategy to obtain construction data; and generating a corresponding control instruction according to the construction data so that the electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. Therefore, fault injection test can be carried out in the vehicle off-line data drive test process, and the reaction of each module of the automatic driving vehicle system is tracked in real time when a fault occurs at any controllable moment in the normal operation process, so that the fault occurrence scene of a real vehicle is more approximate. The method can be suitable for rapid and large-scale test case deployment and development, and saves time and cost.
In one possible design, the obtaining module 31 is specifically configured to:
in the vehicle off-line data drive test process, raw data is obtained from a data source file, and the raw data comprises: positioning data, environment image data and point cloud data.
In this embodiment, the data source file is generally pre-recorded drive test data, and positioning data, environment image data, and point cloud data may be extracted from the data source file. These raw data are in turn transmitted to various modules of the autonomous vehicle system (e.g., a positioning module, a perception module, a decision-making planning module, a control module, a vehicle bus agent module, etc.) during normal operation. By extracting the original data of the data source file, the construction of abnormal data of the original data can be conveniently carried out subsequently.
In one possible design, the modification module 32 is specifically configured to:
determining a configuration policy for the raw data, the configuration policy comprising: frequency configuration, time delay configuration, frame loss configuration and content configuration;
according to the configuration strategy, modifying the original data to obtain first abnormal data, wherein the first abnormal data comprises: and transmitting the time-dependent abnormal data of the first message and the integrity and correctness abnormal data of the first message.
In this embodiment, the frequency, the delay, the frame loss, and the content configuration may be performed on the original data, so as to construct the time-dependent abnormal data for message transmission and the message integrity and correctness abnormal data. The message transmission timeliness abnormal data is used for carrying out time sequence abnormal test and frequency abnormal test; the message integrity and correctness abnormal data is used for carrying out BIT BIT jump test, message truncation test, field item missing test and field value error test. Wherein, the time sequence abnormity test comprises: delay test, disorder test, frame loss test and repeated test; the field value error test includes: non-scene semantic errors, scene semantic errors.
In one possible design, the test module 33 is specifically configured to:
and generating a corresponding control instruction according to the second abnormal data and/or the third abnormal data.
In the embodiment, different forms of abnormal data can be constructed between different modules simultaneously, so that multi-node and multi-type fault injection is realized, the fault test scene is closer to a real fault scene, the method is suitable for various large-scale test case deployment and development, the test efficiency is high,
in one possible design, the testing tasks include: timing sequence abnormity test, frequency abnormity test, BIT BIT jump test, message truncation test, field item missing test and field value error test; wherein, the time sequence abnormity test comprises: delay test, disorder test, frame loss test and repeated test; the field value error test includes: non-scene semantic errors, scene semantic errors.
In this embodiment, by performing frequency, delay, frame loss, and content configuration on data, time-efficient abnormal data for message transmission and abnormal data for message integrity and correctness can be constructed, and test tasks such as a time sequence abnormal test, a frequency abnormal test, a BIT jump test, a message truncation test, a field item missing test, a field value error test, and the like can be implemented. Through abstract design of the time and type of the fault, case writing in a configurable mode is realized, iterative verification can be rapidly carried out on a certain fault in a parameter adjusting mode, and finally regression testing is carried out in a highly automated mode; a large amount of memory space is saved, a group of data source files can be subjected to various abnormal tests in different configuration modes, and each case is not required to store one group of data tests.
The fault injection testing apparatus of this embodiment may execute the technical solution in the method shown in fig. 2, and the specific implementation process and technical principle of the fault injection testing apparatus refer to the related description in the method shown in fig. 2, which is not described herein again.
In the embodiment, original data is acquired from a data source file; modifying the original data according to the configuration strategy to obtain construction data; and generating a corresponding control instruction according to the construction data so that the electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. Therefore, the technical problems that the existing abnormal construction of the data source file needs to consume a large amount of time, occupies a large amount of memory space, is single in type of constructed abnormal data, limited in quantity and not suitable for a test scene of multi-point faults are solved, the reaction of each module of the vehicle is tracked when any controllable moment fails, the method is suitable for deployment and development of various large-scale test cases, high in test efficiency and closer to the technical effect of a real fault scene.
FIG. 7 is a schematic illustration according to a third embodiment of the present application; as shown in fig. 7, the apparatus in this embodiment may further include, on the basis of the apparatus shown in fig. 6:
a sensing module 34 for: analyzing and processing the first abnormal data to obtain traffic signal lamp data and barrier data;
a modification module 32 for: modifying the traffic signal lamp data and the barrier data according to a configuration strategy to obtain second abnormal data, wherein the second abnormal data comprises: and transmitting the time-dependent abnormal data of the second message and transmitting the complete correctness abnormal data of the second message.
In this embodiment, the first abnormal data is stored in the message cache, and is transmitted to the positioning module and the sensing module according to the message receiving requirements of the positioning module and the sensing module; the positioning module combs the received first abnormal data and then sends/tf data to the sensing module; and the sensing module generates traffic signal lamp data and obstacle data according to the first abnormal data and/tf data. And then, modifying the traffic signal lamp data and the obstacle data to obtain second abnormal data. Therefore, abnormal data can be constructed between the sensing module and the decision planning module, and the diversification of fault injection is realized.
In one possible design, further comprising:
the automobile bus agent module 35 is used for analyzing and processing the first abnormal data to obtain vehicle state data;
a modification module 32, configured to modify the vehicle state data according to the configuration policy to obtain third exception data, where the third exception data includes: and the time-efficiency abnormal data transmitted by the third message and the complete correctness abnormal data of the third message.
In this embodiment, after the positioning module receives the first abnormal data, the positioning data is obtained through analysis, and then the positioning data can be transmitted to the automobile bus agent module according to the set frequency, so that the automobile bus agent module generates the vehicle state data. Third anomaly data is then obtained by modification of the vehicle state data. Therefore, abnormal data can be constructed between the automobile bus agent module and the decision planning module, and the diversification of fault injection is realized.
The fault injection testing apparatus of this embodiment may execute the technical solution in the method shown in fig. 2, and the specific implementation process and technical principle of the fault injection testing apparatus refer to the related description in the method shown in fig. 2, which is not described herein again.
In the embodiment, original data is acquired from a data source file; modifying the original data according to the configuration strategy to obtain construction data; and generating a corresponding control instruction according to the construction data so that the electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction. Therefore, the technical problems that the existing abnormal construction of the data source file needs to consume a large amount of time, occupies a large amount of memory space, is single in type of constructed abnormal data, limited in quantity and not suitable for a test scene of multi-point faults are solved, the reaction of each module of the vehicle is tracked when any controllable moment fails, the method is suitable for deployment and development of various large-scale test cases, high in test efficiency and closer to the technical effect of a real fault scene.
FIG. 8 is a block diagram of a fault injection test system used to implement an embodiment of the present application; fig. 8 is a block diagram of the fault injection test system of fig. 8 according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 8, the fault injection test system includes: one or more processors 501, memory 502, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 8 illustrates an example of one processor 501.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the fault injection test system of fig. 8, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 502 may optionally include memory located remotely from processor 501, which may be connected to the fault injection testing system of FIG. 8 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The fault injection test system of fig. 8 may further include: an input device 503 and an output device 504. The processor 501, the memory 502, the input device 503 and the output device 504 may be connected by a bus or other means, and fig. 8 illustrates the connection by a bus as an example.
The input device 503 may receive input numeric or character information and generate key signal inputs related to user settings and functional control of the fault injection testing system of FIG. 8, such as a touch screen, keypad, mouse, track pad, touch pad, pointing stick, one or more mouse buttons, track ball, joystick, etc. the output device 504 may include a display device, auxiliary lighting (e.g., L ED), and tactile feedback (e.g., vibrating motor), etc.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), GPUs (graphics processors), FPGA (field programmable gate array) devices, computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable logic devices (P L D)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal.
The systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or L CD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer for providing interaction with the user.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., AN application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with AN implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (17)
1. A fault injection test method, the method comprising:
acquiring original data from a data source file;
modifying the original data according to a configuration strategy to obtain construction data;
and generating a corresponding control instruction according to the construction data so that an electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction.
2. The method of claim 1, wherein the obtaining raw data from a data source file comprises:
in a vehicle off-line data-driven test process, raw data is acquired from a data source file, and the raw data comprises: positioning data, environment image data and point cloud data.
3. The method according to claim 1, wherein the modifying the original data according to the configuration policy to obtain the configuration data comprises:
determining a configuration policy for the raw data, the configuration policy comprising: frequency configuration, time delay configuration, frame loss configuration and content configuration;
according to the configuration strategy, modifying the original data to obtain first abnormal data, wherein the first abnormal data comprises: and transmitting the time-dependent abnormal data of the first message and the integrity and correctness abnormal data of the first message.
4. The method of claim 3, further comprising, prior to generating respective control instructions from the configuration data:
analyzing and processing the first abnormal data to obtain traffic signal lamp data and obstacle data;
modifying the traffic signal lamp data and the obstacle data according to the configuration strategy to obtain second abnormal data, wherein the second abnormal data comprises: and transmitting the time-dependent abnormal data of the second message and transmitting the complete correctness abnormal data of the second message.
5. The method of claim 4, further comprising, prior to generating respective control instructions from the configuration data:
after the first abnormal data are analyzed and processed, vehicle state data are obtained;
modifying the vehicle state data according to the configuration strategy to obtain third exception data, wherein the third exception data comprises: and the time-efficiency abnormal data transmitted by the third message and the complete correctness abnormal data of the third message.
6. The method of claim 5, wherein generating the corresponding control instruction from the configuration data comprises:
and generating a corresponding control instruction according to the second abnormal data and/or the third abnormal data.
7. The method of any of claims 1-6, wherein the test task comprises: timing sequence abnormity test, frequency abnormity test, BIT BIT jump test, message truncation test, field item missing test and field value error test; wherein, the time sequence abnormity test comprises: delay test, disorder test, frame loss test and repeated test; the field value error test includes: non-scene semantic errors, scene semantic errors.
8. A fault injection testing apparatus, the apparatus comprising:
the acquisition module is used for acquiring original data from a data source file;
the modification module is used for modifying the original data according to a configuration strategy to obtain construction data;
and the test module is used for generating a corresponding control instruction according to the construction data so as to enable an electronic control unit of the vehicle to execute a test task of each function of the vehicle according to the control instruction.
9. The apparatus of claim 8, wherein the obtaining module is specifically configured to:
in a vehicle off-line data-driven test process, raw data is acquired from a data source file, and the raw data comprises: positioning data, environment image data and point cloud data.
10. The apparatus of claim 8, wherein the modification module is specifically configured to:
determining a configuration policy for the raw data, the configuration policy comprising: frequency configuration, time delay configuration, frame loss configuration and content configuration;
according to the configuration strategy, modifying the original data to obtain first abnormal data, wherein the first abnormal data comprises: and transmitting the time-dependent abnormal data of the first message and the integrity and correctness abnormal data of the first message.
11. The apparatus of claim 10, further comprising:
the sensing module is used for analyzing and processing the first abnormal data to obtain traffic signal lamp data and barrier data;
a modification module, configured to modify the traffic signal light data and the obstacle data according to the configuration policy to obtain second abnormal data, where the second abnormal data includes: and transmitting the time-dependent abnormal data of the second message and transmitting the complete correctness abnormal data of the second message.
12. The apparatus of claim 11, further comprising:
the automobile bus agent module is used for analyzing and processing the first abnormal data to obtain vehicle state data;
a modification module, configured to modify the vehicle state data according to the configuration policy to obtain third exception data, where the third exception data includes: and the time-efficiency abnormal data transmitted by the third message and the complete correctness abnormal data of the third message.
13. The apparatus of claim 12, wherein the testing module is specifically configured to:
and generating a corresponding control instruction according to the second abnormal data and/or the third abnormal data.
14. The apparatus of any of claims 8-13, wherein the testing task comprises: timing sequence abnormity test, frequency abnormity test, BIT BIT jump test, message truncation test, field item missing test and field value error test; wherein, the time sequence abnormity test comprises: delay test, disorder test, frame loss test and repeated test; the field value error test includes: non-scene semantic errors, scene semantic errors.
15. A fault injection test system, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.
17. A fault injection test method, the method comprising:
modifying original data in a data source file according to a configuration strategy to obtain construction data;
and generating a corresponding control instruction according to the construction data so that an electronic control unit of the vehicle executes a test task of each function of the vehicle according to the control instruction.
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