CN111596644B - Vehicle-mounted evaluation system and method based on comprehensive tester for vehicle-road cooperative application - Google Patents
Vehicle-mounted evaluation system and method based on comprehensive tester for vehicle-road cooperative application Download PDFInfo
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- CN111596644B CN111596644B CN202010397858.1A CN202010397858A CN111596644B CN 111596644 B CN111596644 B CN 111596644B CN 202010397858 A CN202010397858 A CN 202010397858A CN 111596644 B CN111596644 B CN 111596644B
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Abstract
The application relates to a vehicle-mounted evaluation system and method based on vehicle-road cooperative application of a comprehensive tester. The system comprises: the system comprises a vehicle-mounted control center, a vehicle-mounted simulation node, a data acquisition module and a tested node; the vehicle-mounted control center comprises a scene simulation module, a controller and a test evaluation module; the vehicle-mounted simulation node comprises a comprehensive tester and a virtual background node; the scene simulation module is used for configuring test scene information and dynamically adjusting the test scene information according to the motion state data of the vehicle to be tested; the controller is used for sending a control instruction to the comprehensive tester based on the test scene information; the data acquisition module is used for acquiring the motion state data of the detected vehicle; the test evaluation module is used for analyzing and evaluating the test data according to the test standard and generating a test result and a report. According to the method and the device, the background nodes are simulated through the comprehensive tester, a communication background environment matched with the actual condition of the road is formed, and then large-scale and intelligent evaluation on the tested nodes and services can be realized.
Description
Technical Field
The application relates to the technical field of intelligent networked automobiles, in particular to a vehicle-mounted evaluation system and method based on comprehensive tester vehicle-road cooperative application.
Background
The vehicle-road cooperation technology is a technology for forming a proprietary network by using vehicle-mounted and road-side nodes, collecting and transmitting relevant information such as vehicle postures and road conditions and the like so as to enhance the perception capability of an automatic driving system, and is one of key technologies for realizing full automatic driving.
The vehicle-road cooperation technology emphasizes the cooperative capability of the vehicle and the outside. However, at present, the test equipment and the test method of the vehicle-road cooperation technology still remain in the performance and function test of a single node. How to test the performance of the node in a complex environment and make the test result closer to the performance in a real environment has gradually become a focus of industrial attention.
The current industry mainly adopts a test method which comprises the following steps: and constructing a human, vehicle and road test environment in a real field. This mode has the following disadvantages: 1. the capital cost is large; 2. the consistency of the test results of multiple times is poor under the influence of random factors such as weather and cloud layers; 3. background nodes (i.e. nodes other than the detected node) are limited in number and cannot reflect the real traffic environment.
Disclosure of Invention
In order to solve the problem that a field simulation test environment is lacked in the application test of the current vehicle-road cooperation technology, the application provides a vehicle-road cooperation application evaluation system and method based on a comprehensive tester.
The above object of the present application is achieved by the following technical solutions:
in a first aspect, an embodiment of the present application provides a vehicle-mounted evaluation system for vehicle-road cooperative application based on a comprehensive tester, including: the system comprises a vehicle-mounted control center and a vehicle-mounted simulation node which are arranged on a test vehicle, and a data acquisition module and a tested node which are arranged on the tested vehicle;
the vehicle-mounted control center comprises a scene simulation module, a controller and a test evaluation module; the vehicle-mounted simulation nodes comprise a comprehensive tester and one or more virtual background nodes generated by the comprehensive tester;
the scene simulation module is used for configuring test scene information and dynamically adjusting the test scene information according to the motion state data of the vehicle to be tested; the test scene information comprises tested vehicle parameters, test background object parameters and a mapping relation between a test background object and the virtual background nodes;
the controller is used for sending a control instruction to a comprehensive tester based on the test scene information configured by the scene simulation module so that the comprehensive tester simulates and generates the virtual background node and the virtual background node performs data communication with surrounding nodes;
the data acquisition module is used for acquiring the motion state data of the detected vehicle and feeding the motion state data back to the scene simulation module; the tested vehicle runs based on the test scene information configured by the scene simulation module, and the motion state of the tested vehicle is adjusted according to the data communication result between the tested node and the virtual background node;
and the test evaluation module is used for analyzing and evaluating the test data sent by the data acquisition module and the virtual background node according to a preset test standard and generating a test result and a report.
Optionally, based on the control instruction sent by the controller, the information of the virtual background nodes generated by the comprehensive tester includes the number of background nodes, the distance between each background node and the tested node, the data sending frequency of the background nodes, the communication density, the interference strength, and the service logic.
Optionally, the virtual background nodes include an associated node and an interfering node, where the associated node is a node that performs a substantial action with the node to be tested, and the sent data is used to simulate a state of the test background object, and the interfering node is a node that provides a background noise in a simulated test environment, and the sent data is used to contend for a channel with the node to be tested, to generate noise, and to increase a data processing load of the node to be tested.
Optionally, the test background object comprises at least one of a vehicle, a pedestrian, roadside infrastructure, and an edge cloud device.
Optionally, the communication data sent by each node to the surrounding nodes is a normalized data packet.
Optionally, if the test background object is a vehicle, the message structure of the test background object includes part or all of the following contents: counters, vehicle ID, time stamp, position coordinate accuracy, gear train, speed, heading, steering wheel angle, motion trajectory accuracy, four-axis acceleration, vehicle size, vehicle type, and other vehicle safety device descriptions.
Optionally, the number of the comprehensive testing instruments is one or more based on the testing scale.
Optionally, the node under test is a V2X communication terminal.
In a second aspect, an embodiment of the present application further provides a vehicle-mounted evaluation method for vehicle-road cooperative application based on a comprehensive tester, which is applied to the system described above, where the method includes:
configuring test scene information through the scene simulation module;
the scene simulation module sends test scene information to the comprehensive tester and the tested vehicle through the controller;
the comprehensive tester generates a virtual background node based on the test scene information, and the virtual background node is in data communication with surrounding nodes;
the tested vehicle carrying the tested node runs based on the test scene information, and adjusts the self motion state according to the data communication result between the tested node and the virtual background node;
the data acquisition module acquires motion state data of a detected vehicle and sends the motion state data to the scene simulation module through the controller, and the virtual background node sends the acquired communication data to the scene simulation module through the controller;
the scene simulation module judges whether a preset test requirement is met, if the test requirement is not met, test scene information is dynamically adjusted, and the test is continued by using the newly adjusted test scene information until the test requirement is met;
and analyzing and evaluating the test data according to a preset test standard through the test evaluation module, and generating a test result and a report.
Optionally, when the virtual background node sends the communication data to the scene simulation module through the controller, only the communication data received from the node to be tested is sent.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the technical scheme provided by the embodiment of the application, compared with the existing entity test environment, the background nodes are simulated by using the comprehensive tester firstly, so that a communication background environment matched with the actual condition of a road can be formed, and the entity background nodes of the entity, people, vehicles and the road do not need to be set, thereby effectively reducing the cost; secondly, node configuration, scene generation, data acquisition, data analysis and result evaluation can be completed on line, so that automatic testing and evaluation processes can be realized; in addition, different test contents can be set and adjusted according to needs in the test process, so that the comprehensiveness of the test and evaluation can be ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of a vehicle-mounted evaluation system based on a vehicle-road cooperative application of a comprehensive tester provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a vehicle-mounted evaluation method for vehicle-road cooperative application based on a comprehensive tester according to an embodiment of the present application;
fig. 3 is a schematic deployment flow diagram of a vehicle-mounted evaluation system based on a vehicle-road cooperative application of a comprehensive tester according to an embodiment of the present application;
fig. 4 is a schematic view of an actual evaluation flow of the vehicle-mounted evaluation system based on the vehicle-road cooperative application of the comprehensive tester provided in the embodiment of the present application;
fig. 5 is a schematic view of an actual processing flow of the comprehensive tester in the vehicle-mounted evaluation system based on the vehicle-road cooperative application of the comprehensive tester according to the embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Vehicle-road coordination is generally understood as a general term for implementing traffic safety oriented, traffic efficiency oriented and information service oriented applications by using the V2X technology. The V2X (Vehicle To event) is a dedicated communication terminal installed on a Vehicle, and can implement data interaction service with other vehicles, roads, pedestrians, and cloud terminals, and specifically includes V2V (Vehicle To Vehicle connection), V2I (Vehicle To Infrastructure connection), V2P (Vehicle To Pedestrian connection), and V2N (Vehicle To Network connection). The special communication terminal mainly has higher requirement on communication delay (less than 10ms) and supports direct connection between devices. One of the currently mainstream technologies is DSRC (Dedicated Short Range Communications), and the other is LTE-V2X (V2X based on cellular mobile communication).
The vehicle-road cooperation is characterized in that vehicle active safety control and road cooperative management are carried out on the basis of full-time dynamic traffic information acquisition and fusion in service, effective cooperation of the vehicle-road is fully realized, traffic safety is guaranteed, traffic efficiency is improved, and therefore a safe, efficient and environment-friendly road traffic system is formed. The vehicle-road cooperation technology needs to be tested before application, and the test on the vehicle-road cooperation system is respectively carried out according to a performance test and a function test at present.
The performance test method comprises the following steps: according to a traditional test method of a cellular node or a wifi node, the communication performance of the test node is mainly tested. The specific test method is that aiming at the applications of V2I, V2V and V2P, the two nodes are in an open place, the position and posture relation between the two nodes is adjusted, parameters of packet loss, time delay, capacity, communication speed and the like of the two nodes are recorded and tested, and the communication performance of the two nodes is inspected. Aiming at V2N type application, the position and the posture of a single tested node are changed, and parameters such as packet loss, time delay, capacity, communication speed and the like of the communication between the node and the cloud are tested.
The function test method comprises the following steps: the V2X service is regarded as an ADAS service, a test vehicle is placed according to service occurrence conditions, and parameters such as the sending time of an early warning message or other messages of the tested vehicle, the driving distance of the vehicle, the correctness of service logic and the like are tested according to a V2X service scene.
However, at present, the test equipment and the test method of the vehicle-road cooperation technology are generally performance and function tests of a single node and a single service. How to test the performance of the tested vehicle in a complex environment and make the test result closer to the performance in a real environment has gradually become a focus of industrial attention. Although there are some comprehensive test methods for constructing a test environment of people, vehicles and roads in a real field, there are disadvantages including: 1. the capital cost is large; 2. the consistency of the test results of multiple times is poor under the influence of random factors such as weather and cloud layers; 3. background nodes (i.e. nodes other than the detected node) are limited in number and cannot reflect the real traffic environment.
In order to solve the problems, the application provides a vehicle-mounted evaluation system and a vehicle-mounted evaluation method based on vehicle-road cooperative application of a comprehensive tester, a single or a plurality of background nodes are simulated by the comprehensive tester, a communication background environment matched with the actual condition of a road is formed, and then large-scale and intelligent evaluation of the tested nodes and services is realized.
The above-described scheme will be described in detail by examples below.
Example one
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle-mounted evaluation system based on a vehicle-road cooperative application of a comprehensive tester according to an embodiment of the present application, as shown in fig. 1, the system includes: the system comprises a vehicle-mounted control center and a vehicle-mounted simulation node which are arranged on a test vehicle (not shown in the figure), and a data acquisition module and a tested node which are arranged on the tested vehicle;
the vehicle-mounted control center comprises a scene simulation module, a controller and a test evaluation module; the vehicle-mounted simulation nodes comprise a comprehensive tester and one or more virtual background nodes generated by the comprehensive tester;
the scene simulation module is used for configuring test scene information and dynamically adjusting the test scene information according to the motion state data of the vehicle to be tested; the test scene information comprises tested vehicle parameters, test background object parameters and a mapping relation between a test background object and the virtual background nodes;
the controller is used for sending a control instruction to a comprehensive tester based on the test scene information configured by the scene simulation module so that the comprehensive tester simulates and generates the virtual background node and the virtual background node performs data communication with surrounding nodes;
the data acquisition module is used for acquiring the motion state data of the detected vehicle and feeding the motion state data back to the scene simulation module; the tested vehicle runs based on the test scene information configured by the scene simulation module, and the motion state of the tested vehicle is adjusted according to the data communication result between the tested node and the virtual background node;
the test evaluation module is used for analyzing and evaluating the test data sent by the data acquisition module and the virtual background node according to a preset test standard, and generating a test result and a report
It should be noted that, in this embodiment, the network connection modes of the modules include wired connection (optical fiber, network cable, etc.) and wireless connection (V2X, 5G, etc.), where the scene simulation module and the controller are connected by wired connection such as optical fiber, network cable, etc., the controller is connected with the comprehensive tester by wired connection such as optical fiber, network cable, 5G, etc., the virtual background node simulated by the comprehensive tester is connected with the tested node by V2X, 5G, the data acquisition module is connected with the controller by V2X, 4G, 5G, and the data acquisition module is connected with the tested node by wired connection such as CAN, in-vehicle ethernet, etc.
The purpose of the application is to simulate the communication environment of a real road, so that test scene information to be simulated is defined by setting a scene simulation module, wherein the test scene information comprises tested vehicle parameters and test background object parameters, the test background object can be at least one of a vehicle, a pedestrian, roadside infrastructure and edge cloud equipment, and the specific type and number depend on the test scene to be simulated. With this arrangement, the environment of a real road can be simulated by arranging a large number of test background objects, so that the data communication process between the vehicle to be tested and the test background objects and the change of the motion state after the data communication can be tested and set.
In addition, the comprehensive tester is a radio comprehensive tester, can simulate various radio frequency signals such as WLAN, LTE-V, 5G and the like, and can realize the simulation of multi-channel radio signals by hardware modularization assembly and software configuration data sending channels. In a real road, a test background object, taking a background vehicle as an example, can be regarded as a background node (communication terminal) that sends its own state to other nodes (communication terminals) around, so in this embodiment, a comprehensive tester is used to virtualize one or more background nodes, and each background node sends its own parameters (taking a vehicle as an example, its own parameters, i.e., motion state information of the vehicle, configured by a scene simulation module) to the surrounding nodes, so that a desired test environment can be virtually obtained. Moreover, if the test scale is large, that is, when the number of required background nodes is large, one comprehensive tester may not meet the requirements, a plurality of comprehensive testers may be set.
Further, the information of the virtual background nodes generated by the comprehensive tester includes the number of background nodes, the distance between each background node and the tested node, the data transmission frequency of the background nodes, the communication density, the interference strength and the service logic. The number of background nodes, the distance between each background node and a tested node and the data transmission frequency of the background nodes are basic information and mainly represent the test scale; the communication density, the interference strength and the service logic represent the service incidence relation of each background node and are used for distinguishing the type of the simulated background node. The types of the background nodes comprise an associated node (or called a service node) and an interference node, the associated node is a node which performs a substantial action with the tested node, and the sent data is used for simulating the state of the test background object, for example, if the test background object is a vehicle, the corresponding parameters of the test background object are in accordance with a dynamic model (such as wind speed influence, acceleration, deceleration, turning radius, braking distance and the like); the interference node is a node providing background noise in a simulated test environment, and the data sent by the interference node is used for contending a channel with the node to be tested, producing noise and increasing the data processing load of the node to be tested, so the content of the data sent by the interference node is not important.
In addition, in this embodiment, the communication data (V2X data) sent by each node to the surrounding nodes is a normalized data packet. Further, taking the test background object as a vehicle as an example, the message structure sent by the corresponding virtual background node may include all or part of the contents shown in the following table, that is: counters, vehicle ID, time stamp, position coordinate accuracy, gear train, speed, heading, steering wheel angle, motion trajectory accuracy, four-axis acceleration, vehicle size, vehicle type, and other vehicle safety device descriptions.
Obviously, since the node under test represents a vehicle, the message structure sent by the node under test may also be the same as that described above. If the test background object is a roadside infrastructure traffic light, the data message structure sent by the corresponding virtual background node can also include information such as the current signal light color and the current signal light duration. In addition, when the test background object is in other situations, the corresponding message data can be set according to actual needs, and details are not described here.
In a simulated test environment, a vehicle to be tested operates according to initial parameters configured by a scene simulation module, and during the period, under the influence of a test background object (a virtual background node) in the test environment, the vehicle to be tested (the node to be tested, for example, a V2X communication terminal) receives a large amount of communication data containing a timestamp identifier (and also sends the communication data containing the timestamp identifier to a surrounding background node), and continuously adjusts the motion state of the vehicle to be tested, for example, deceleration, turning, lane change and the like, according to state information (for example, wind speed influence, acceleration, deceleration, turning radius, braking distance and the like) of the surrounding test background object. In the moving process of the detected vehicle, the data acquisition module, such as a satellite positioning module, various sensors, a camera and the like, can acquire the motion state data of the detected vehicle under the control of the vehicle controller, including the information of the position, the advancing direction, the speed, the acceleration and the like of the detected vehicle, and transmits the acquired data to the scene simulation module through the controller. And the scene simulation module judges whether the test is needed to be continued according to the set test requirement, if so, the test scene information is reset, and the test is continued so as to obtain more test data.
And when the test conditions are met, the test evaluation module analyzes and evaluates all test data based on preset test standards, and finally generates test results and reports. The test standard can be set according to actual needs, or the existing standard can be adopted, and the method is not limited.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the technical scheme provided by the embodiment of the application, compared with the existing entity test environment, the background nodes are simulated by using the comprehensive tester firstly, so that a communication background environment matched with the actual condition of a road can be formed, and the entity background nodes of the entity, people, vehicles and the road do not need to be set, thereby effectively reducing the cost; secondly, node configuration, scene generation, data acquisition, data analysis and result evaluation can be completed on line, so that automatic testing and evaluation processes can be realized; in addition, different test contents can be set and adjusted according to needs in the test process, so that the comprehensiveness of the test and evaluation can be ensured.
In addition, as shown in fig. 2, corresponding to the system, the embodiment of the present application further provides a vehicle-mounted evaluation method based on vehicle-road cooperative application of a comprehensive tester. The method comprises the following steps:
s101: configuring test scene information through the scene simulation module;
s102: the scene simulation module sends test scene information to the comprehensive tester and the tested vehicle through the controller;
s103: the comprehensive tester generates a virtual background node based on the test scene information, and the virtual background node is in data communication with surrounding nodes;
s104: the tested vehicle carrying the tested node runs based on the test scene information, and adjusts the self motion state according to the data communication result between the tested node and the virtual background node;
s105: the data acquisition module acquires motion state data of a detected vehicle and sends the motion state data to the scene simulation module through the controller, and the virtual background node sends the acquired communication data to the scene simulation module through the controller;
s106: the scene simulation module judges whether a preset test requirement is met, if the test requirement is not met, test scene information is dynamically adjusted, and the test is continued by using the newly adjusted test scene information until the test requirement is met;
s107: and analyzing and evaluating the test data according to a preset test standard through the test evaluation module, and generating a test result and a report.
Specifically, please refer to the relevant contents in the foregoing embodiments for the specific implementation process in the foregoing steps, which is not described again.
Further, considering that only the data of the node to be tested is unknown and the data of other nodes is distributed by the system during the execution of the whole method, the above method may be configured such that each virtual background node only transmits the communication data received from the node to be tested when transmitting the communication data to the scene simulation module through the controller, thereby reducing the time for transmitting, receiving, storing and processing the data during the whole process.
In order to better introduce the technical solution of the present application, a practical application process of the technical solution of the present application will be described below by using a specific example.
Example two
First, as shown in fig. 3, the deployment of the entire system is performed, including:
1) placing the comprehensive tester in an equipment frame of a test vehicle;
2) leading out an antenna of the comprehensive tester to the top of the test vehicle;
3) connecting the comprehensive tester to a switchboard of the test vehicle;
4) the switch in the test vehicle is connected with the 4G/5G communication module and is simultaneously connected with a server for running a simulation program;
5) the tested node is arranged on the tested vehicle and communicates with the outside through 4G/5G on the tested vehicle;
6) the 4G/5G of the test vehicle and the tested vehicle are simultaneously connected to the controller.
After deployment is completed, the test flow shown in fig. 4 may be entered, including:
1) configuring a scene simulator, and setting a test scene in scene simulation software;
2) the scene simulator issues a scene configuration instruction to the controller;
3) the comprehensive tester generates a virtual background node according to a scene configuration instruction issued by the controller;
4) the tested vehicle runs in the test field according to the issued scene running instruction requirement;
5) the data acquisition module of the tested vehicle sends the real-time state information of the vehicle to a controller of the vehicle-mounted control center through 4G/5G, and meanwhile, the virtual background node sends the collected data of the tested node V2X to the controller of the vehicle-mounted control center;
6) the controller forwards the data to a scene simulation module, the scene simulation module updates scene information, redistributes the communication intensity and the service data of each virtual background node, and sends the data to the controller, and the process is repeated until a test stop instruction is received;
7) finally, the test data (data collected by the controller and data collected by the vehicle-mounted simulation node and V2X data collected by the vehicle-mounted simulation node) are transmitted to a test evaluation module for analysis.
In step 3) of the test flow shown in fig. 4, the actual processing flow of the integrated tester is shown in fig. 5, and it should be noted that:
(1) after the node judges that the node is the associated node, the wireless transmitting action and the wireless receiving action are synchronously started, wherein the wireless transmitting action and the wireless receiving action are used for broadcasting the wireless V2X data outwards and receiving the external wireless V2X data.
(2) The related nodes only receive the data broadcasted by the tested node, and the broadcast data of the rest nodes are discarded uniformly, because only the data of the tested node is unknown and the data of the other nodes is distributed by the system in the whole process.
(3) The relevant node and the tested node need to interact, so that the broadcasted V2X data (especially position information) frequently changes, and the motion trail conforms to a dynamic model.
(4) The interference node is mainly responsible for constructing a communication background environment, contending for a channel with the node to be tested, making noise and increasing the data processing load of the node to be tested, so that the message content of the V2X data of the interference node is not important, and a task only needs to be executed according to the transmitting power and the transmitting center frequency in the configuration file.
Furthermore, it should be noted that:
(1) the data acquisition module has high precision, collects the real driving data of the vehicle, including position, speed, acceleration and the like, is used for displaying the real-time position of the vehicle in the simulation system, is only related to the communication signal intensity in the background communication environment (the communication intensity varies with the position of the real vehicle), and is not related to the service data.
(2) The node under test is a V2X terminal, which is affected by various factors (e.g., an interfering node in the environment), and may not be able to collect and broadcast V2X data in time, and thus cannot interact with the V2X node in the simulated environment. The data broadcast by the tested node determines the performance of the tested node and is the most concerned important index of the whole evaluation system.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. The utility model provides a vehicular evaluation system of car road cooperative application based on synthesize tester which characterized in that includes: the system comprises a vehicle-mounted control center and a vehicle-mounted simulation node which are arranged on a test vehicle, and a data acquisition module and a tested node which are arranged on the tested vehicle;
the vehicle-mounted control center comprises a scene simulation module, a controller and a test evaluation module; the vehicle-mounted simulation nodes comprise a comprehensive tester and one or more virtual background nodes generated by the comprehensive tester;
the scene simulation module is used for configuring test scene information and dynamically adjusting the test scene information according to the motion state data of the vehicle to be tested; the test scene information comprises tested vehicle parameters, test background object parameters and a mapping relation between a test background object and the virtual background nodes;
the controller is used for sending a control instruction to a comprehensive tester based on the test scene information configured by the scene simulation module so that the comprehensive tester simulates and generates the virtual background node and the virtual background node performs data communication with surrounding nodes;
the data acquisition module is used for acquiring the motion state data of the detected vehicle and feeding the motion state data back to the scene simulation module; the tested vehicle runs based on the test scene information configured by the scene simulation module, and the motion state of the tested vehicle is adjusted according to the data communication result between the tested node and the virtual background node;
and the test evaluation module is used for analyzing and evaluating the test data sent by the data acquisition module and the virtual background node according to a preset test standard and generating a test result and a report.
2. The vehicle-mounted evaluation system according to claim 1, wherein the information of the virtual background nodes generated by the comprehensive tester includes the number of background nodes, the distance between each background node and the tested node, the data transmission frequency of the background nodes, the communication density, the interference strength and the service logic based on the control command transmitted by the controller.
3. The vehicle-mounted evaluation system according to claim 1, wherein the virtual background nodes include a correlation node and an interference node, the correlation node is a node which performs a substantial action with the tested node and transmits data for simulating a state of the test background object, and the interference node is a node which provides a simulated test environment with background noise and transmits data for contending for a channel with the tested node, generating noise, and increasing a data processing load of the tested node.
4. The vehicle-mounted assessment system according to claim 1, wherein said test context object comprises at least one of a vehicle, a pedestrian, roadside infrastructure, and edge cloud equipment.
5. The vehicle-mounted evaluation system according to claim 4, wherein the communication data sent by each node to the surrounding nodes is a normalized data message.
6. The vehicle-mounted evaluation system according to claim 5, wherein if the test background object is a vehicle, the message structure thereof includes part or all of the following: counters, vehicle ID, time stamp, position coordinate accuracy, gear train, speed, heading, steering wheel angle, motion trajectory accuracy, four-axis acceleration, vehicle size, vehicle type, and other vehicle safety device descriptions.
7. The vehicle-mounted assessment system according to claim 1, wherein the number of said comprehensive testing instruments is one or more based on the scale of the test.
8. The vehicle-mounted evaluation system according to claim 1, wherein the node to be tested is a V2X communication terminal.
9. A vehicle-mounted evaluation method based on a vehicle-road cooperative application of a comprehensive tester, which is applied to the system of any one of claims 1 to 8, the method comprising:
configuring test scene information through the scene simulation module;
the scene simulation module sends test scene information to the comprehensive tester and the tested vehicle through the controller;
the comprehensive tester generates a virtual background node based on the test scene information, and the virtual background node is in data communication with surrounding nodes;
the tested vehicle carrying the tested node runs based on the test scene information, and adjusts the self motion state according to the data communication result between the tested node and the virtual background node;
the data acquisition module acquires motion state data of a detected vehicle and sends the motion state data to the scene simulation module through the controller, and the virtual background node sends the acquired communication data to the scene simulation module through the controller;
the scene simulation module judges whether a preset test requirement is met, if the test requirement is not met, test scene information is dynamically adjusted, and the test is continued by using the newly adjusted test scene information until the test requirement is met;
and analyzing and evaluating the test data according to a preset test standard through the test evaluation module, and generating a test result and a report.
10. The vehicle-mounted evaluation method according to claim 9, wherein the virtual background node transmits only the communication data received from the node under test when transmitting the communication data to the scene simulation module through the controller.
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| CN112631912A (en) * | 2020-12-23 | 2021-04-09 | 北京百度网讯科技有限公司 | Simulation method, device, equipment and storage medium based on Internet of vehicles |
| CN113077655B (en) * | 2021-03-18 | 2022-04-12 | 招商局检测车辆技术研究院有限公司 | V2X site-to-ring test method and device based on edge calculation |
| CN113378305B (en) * | 2021-08-12 | 2022-02-01 | 深圳市城市交通规划设计研究中心股份有限公司 | Driverless trolley-based vehicle-road cooperative testing method and device |
| CN113553730B (en) * | 2021-09-22 | 2022-02-11 | 中国汽车技术研究中心有限公司 | Automobile industry multi-equipment joint debugging scene simulation method, device, equipment and medium |
| CN114244741B (en) * | 2021-12-16 | 2023-11-14 | 阿波罗智联(北京)科技有限公司 | Link testing method, device, system, electronic equipment and storage medium |
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