CN111783230A - Simulation test method and device for automatic driving algorithm - Google Patents
Simulation test method and device for automatic driving algorithm Download PDFInfo
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Abstract
The invention discloses a simulation test method of an automatic driving algorithm, which is applied to an algorithm server, and the test comprises the following steps: determining a simulation map and a test scene of an automatic driving algorithm to be tested; sending the simulation map and the test scene to the simulation cloud platform, so that the simulation cloud platform generates a simulation traffic flow based on the simulation map and the test scene, and sending the simulation traffic flow to the algorithm server; receiving simulation communication, performing simulation test on the automatic driving algorithm to be tested based on the simulation traffic flow, sending test result data to the simulation cloud platform, enabling the simulation cloud platform to generate a test report based on the test result data, and sending the test report to the algorithm server; a test report is received. In the test method, the simulation test algorithm is not uploaded to the cloud platform, but the simulation traffic flow is sent to the algorithm server, the simulation test is completed in the algorithm server, the automatic driving algorithm to be tested is not disclosed, and the problem of secret leakage is avoided.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a simulation test method and device for an automatic driving algorithm.
Background
In order to ensure the driving safety of the automatic driving vehicle, the automatic driving algorithm needs to be subjected to simulation test, the simulation traffic flow is stored in the cloud platform in the existing simulation test process, and when the automatic driving algorithm needs to be subjected to the simulation test, the automatic driving algorithm needs to be uploaded to the cloud platform for the simulation test.
Compared with the automatic driving vehicle research and development enterprises, the automatic driving algorithm belongs to a core technology, confidentiality is required, and the risk of disclosure exists after the automatic driving algorithm is uploaded to the cloud platform.
Disclosure of Invention
In view of the above, the present invention provides a simulation test method and device for an autopilot algorithm, which are used to solve the problem that in the prior art, the autopilot algorithm belongs to a core technology, and should be kept secret, and after the autopilot algorithm is uploaded to a cloud platform, a secret leakage risk exists, and the specific scheme is as follows:
a simulation test method of an automatic driving algorithm is applied to an algorithm server, the algorithm server reads configuration parameters of a simulation cloud platform in advance and carries out configuration based on the configuration parameters, and the test method comprises the following steps:
determining a simulation map and a test scene of an automatic driving algorithm to be tested;
sending the simulation map and the test scene to the simulation cloud platform, so that the simulation cloud platform generates a simulation traffic flow based on the simulation map and the test scene, and sending the simulation traffic flow to the algorithm server;
receiving the simulation communication, performing simulation test on the automatic driving algorithm to be tested based on the simulation traffic flow to obtain test result data, sending the test result data to the simulation cloud platform, enabling the simulation cloud platform to generate a test report based on the test result data, and sending the test report to the algorithm server;
receiving the test report.
Optionally, the method for determining the simulation map and the test scene of the automatic driving algorithm to be tested includes:
judging whether the automatic driving algorithm to be tested needs to adopt a preset test scene;
if yes, selecting the simulation map and the test scene in a preset test packet, or;
and if not, receiving the simulation map and the test scene uploaded by the user.
The above method, optionally, receiving the simulation exchange further includes:
performing a pretest based on the simulated traffic flow;
and if the pretesting process does not pass, adjusting the simulated traffic flow.
The above method, optionally, receiving the simulation exchange further includes:
acquiring preset test time;
and judging whether the current time reaches the preset test time.
Optionally, the method for performing simulation test on the to-be-tested automatic driving algorithm based on the simulated traffic flow includes:
loading a simulation dynamic model for the automatic driving algorithm to be tested to obtain a tested vehicle model;
and testing the automatic driving algorithm to be tested based on the tested vehicle model in the simulated traffic flow.
The above method, optionally, further includes:
acquiring test process data;
a test procedure is reviewed based on the test procedure data.
A simulation test device of an automatic driving algorithm is applied to an algorithm server, the algorithm server reads configuration parameters of a simulation cloud platform in advance and carries out configuration based on the configuration parameters, and the test device comprises:
the determining module is used for determining a simulation map and a test scene of the automatic driving algorithm to be tested;
the sending module is used for sending the simulation map and the test scene to the simulation cloud platform so as to enable the simulation cloud platform to generate a simulation traffic flow based on the simulation map and the test scene and send the simulation traffic flow to the algorithm server;
the receiving and testing module is used for receiving the simulation communication, carrying out simulation testing on the automatic driving algorithm to be tested based on the simulation traffic flow to obtain test result data, sending the test result data to the simulation cloud platform, enabling the simulation cloud platform to generate a test report based on the test result data, and sending the test report to the algorithm server;
and the receiving module is used for receiving the test report.
The above apparatus, optionally, the determining module includes:
the judging unit is used for judging whether the automatic driving algorithm to be tested needs to adopt a preset test scene;
the selection unit is used for selecting the simulation map and the test scene in a preset test packet if the simulation map and the test scene are selected;
and the receiving unit is used for receiving the simulation map and the test scene uploaded by the user if the simulation map and the test scene are not uploaded by the user.
The above apparatus, optionally, the receiving and testing module further includes:
the pretesting unit is used for performing pretesting on the basis of the simulated traffic flow;
and the adjusting unit is used for adjusting the simulated traffic flow if the pretesting process does not pass.
The above apparatus, optionally, the receiving and testing module includes:
the loading unit is used for loading a simulation dynamic model for the automatic driving algorithm to be tested to obtain a tested vehicle model;
and the testing unit is used for testing the automatic driving algorithm to be tested based on the tested vehicle model in the simulated traffic flow.
Compared with the prior art, the invention has the following advantages:
the invention discloses a simulation test method of an automatic driving algorithm, which is applied to an algorithm server, wherein the algorithm server reads configuration parameters of a simulation cloud platform in advance and performs configuration based on the configuration parameters, and the test comprises the following steps: determining a simulation map and a test scene of an automatic driving algorithm to be tested; sending the simulation map and the test scene to the simulation cloud platform, so that the simulation cloud platform generates a simulation traffic flow based on the simulation map and the test scene, and sending the simulation traffic flow to the algorithm server; receiving the simulation communication, performing simulation test on the automatic driving algorithm to be tested based on the simulation traffic flow to obtain test result data, sending the test result data to the simulation cloud platform, enabling the simulation cloud platform to generate a test report based on the test result data, and sending the test report to the algorithm server; receiving the test report. In the test method, the simulation test algorithm is not uploaded to the cloud platform, but the simulation traffic flow is sent to the algorithm server, the simulation test is completed in the algorithm server, the automatic driving algorithm to be tested is not disclosed, and the problem of secret leakage is avoided.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a simulation test method of an autopilot algorithm disclosed in an embodiment of the present application;
FIG. 2 is another flowchart of a simulation testing method for an autopilot algorithm disclosed in an embodiment of the present application;
FIG. 3 is a schematic diagram of a simulation test interaction process of an autopilot algorithm disclosed in an embodiment of the present application;
fig. 4 is a block diagram of a simulation testing apparatus for an automatic driving algorithm according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The invention discloses a simulation test method and a simulation test device for an automatic driving algorithm, which are applied to the simulation test process of the automatic driving algorithm, wherein the existing simulation test process of the automatic driving algorithm needs to be uploaded to a simulation cloud platform, the simulation cloud platform is an open platform, and the simulation cloud platform comprises the following components: the simulation cloud platform has a function of generating a test report based on test result data, wherein the simulation traffic flow consists of a simulation map and a test scene, an automatic driving algorithm needs to be tested through the simulation traffic flow, the test method is applied to an algorithm server, and the algorithm server comprises the following steps: in order to realize the communication between the algorithm server and the simulation cloud platform, the to-be-tested autopilot simulation algorithm dynamic model reads the configuration parameters of the simulation cloud platform in advance, and performs configuration based on the configuration parameters, wherein the configuration parameters comprise: IP address, port number, etc. The execution flow of the test method is shown in fig. 1, and comprises the following steps:
s101, determining a simulation map and a test scene of an automatic driving algorithm to be tested;
in the embodiment of the invention, based on specific test requirements, the simulation map and the test scene of the automatic driving algorithm to be tested are determined, a preset test packet exists in the simulation cloud platform, the preset test packet comprises a plurality of simulation maps and test scenes, and the determination process is as follows: firstly, judging whether the automatic driving algorithm to be tested needs to adopt a preset test scene or not, determining the judgment principle according to specific conditions, if the automatic driving algorithm to be tested needs to adopt a preset test packet, directly selecting the simulation map and the test scene from the preset test packet, wherein the selection principle is related to a test request, if the automatic driving algorithm does not need to adopt the preset test packet, a user can upload the simulation scene and the test scene by himself, and the algorithm server receives the simulation map and the test scene.
Further, for the situation that the user uploads the simulation map and the test scene, because the simulation map and the test scene are uploaded by the user, the simulation cloud platform does not include simulation traffic flow data associated with the simulation map and the test scene, preferably, the simulation traffic flow data needs to be uploaded to the simulation cloud platform, and in order to keep the simulation traffic flow data uploaded by the user secret, the simulation traffic flow data uploaded by the user is deleted when the test is completed.
S102, sending the simulation map and the test scene to the simulation cloud platform, enabling the simulation cloud platform to generate a simulation traffic flow based on the simulation map and the test scene, and sending the simulation traffic flow to the algorithm server;
in the embodiment of the invention, after a user selects the simulation map and the test scene, the simulation map and the test scene are sent to the simulation cloud platform, and after receiving the simulation map and the test scene, the simulation cloud platform traverses the simulation cloud platform to search map data corresponding to the simulation map and traffic scene data corresponding to the test scene, wherein the map data comprises road information, obstacle information, pedestrian information and the like, and the traffic scene data comprises vehicle information. The searching principle can be performed based on an identifier, that is, a correlation relationship is established in advance for a simulation map and map data and test scene and traffic scene data through the identifier, in the embodiment of the present invention, a specific existence form of the identifier is not limited, a simulation traffic flow is constructed based on the map data and the traffic scene data, the simulation traffic flow includes road, person, vehicle, obstacle information, and the like, wherein a vehicle in the traffic scene data is preset with a dynamic model and driving parameters, and the driving parameters include: and the vehicle in the traffic scene data is randomly placed in the map data to form the simulated traffic flow, and the simulated traffic flow is sent to the algorithm server, preferably, the sending process is sent based on a Socket communication protocol.
S103, receiving the simulation communication, performing simulation test on the automatic driving algorithm to be tested based on the simulation traffic flow to obtain test result data, sending the test result data to the simulation cloud platform, enabling the simulation cloud platform to generate a test report based on the test result data, and sending the test report to the algorithm server;
in the embodiment of the invention, the algorithm server receives the simulated traffic flow, carries out simulation test on the automatic driving algorithm to be tested based on the simulated traffic flow, preferably, judges whether preset test time exists before carrying out the simulation test, wherein, the judged principle is that whether time information exists at a preset port or not is judged, if so, the preset test time and the current time are obtained, whether the current time reaches the preset test time is judged, if not, waiting is carried out, otherwise, the test is carried out, the test process is as follows, a simulation dynamic model is loaded for the automatic driving algorithm to be tested to obtain a tested vehicle model, the automatic driving algorithm to be tested is tested based on the tested vehicle model in the simulation traffic flow to obtain test result data, and sending the test result data to the simulation cloud platform, preferably, sending based on a Socket communication protocol in the sending process. And enabling the simulation cloud platform to generate a test report based on the test result data, wherein the test report comprises whether the test process of the automatic driving algorithm to be tested based on the simulation traffic flow passes or not, and the tested vehicle model has different decisions on different scenes in the test process, and mainly judges whether the decision of the automatic driving algorithm to be tested is the same as the expected decision or not. If the two are the same, the test is passed, otherwise, if the two are different, the test is not passed. For example, if a pedestrian is expected to decelerate, the pedestrian is considered to pass if the vehicle decelerates, and otherwise the pedestrian is considered not to pass.
Preferably, in order to reduce the storage pressure of the simulation cloud platform, the test report may be packed and compressed.
Further, it is preferable that, after receiving the simulated traffic flow, a pretest is performed based on the simulated traffic flow, where a process of the pretest is the same as a test process, but the pretest process is mainly used to test whether unreasonable parameters exist in the simulated traffic flow, and if so, the pretest is modified.
And S104, receiving the test report.
In the embodiment of the invention, the algorithm server receives the test report so that a user can check the test report.
Further, the algorithm server may further obtain test process data in the simulation cloud platform, check a test process based on the test process data, and preferably, display the test process in a form of a three-dimensional scene graph.
The invention discloses a simulation test method of an automatic driving algorithm, which is applied to an algorithm server, wherein the algorithm server reads configuration parameters of a simulation cloud platform in advance and performs configuration based on the configuration parameters, and the test comprises the following steps: determining a simulation map and a test scene of an automatic driving algorithm to be tested; sending the simulation map and the test scene to the simulation cloud platform, so that the simulation cloud platform generates a simulation traffic flow based on the simulation map and the test scene, and sending the simulation traffic flow to the algorithm server; receiving the simulation communication, performing simulation test on the automatic driving algorithm to be tested based on the simulation traffic flow to obtain test result data, sending the test result data to the simulation cloud platform, enabling the simulation cloud platform to generate a test report based on the test result data, and sending the test report to the algorithm server; receiving the test report. In the test method, the simulation test algorithm is not uploaded to the cloud platform, but the simulation traffic flow is sent to the algorithm server, the simulation test is completed in the algorithm server, the automatic driving algorithm to be tested is not disclosed, and the problem of secret leakage is avoided.
In the embodiment of the present invention, an overall execution flow based on the above-mentioned test algorithm is shown in fig. 2, and includes: firstly, judging whether the automatic driving algorithm to be tested needs to use a preset test scene, if not, manually creating a simulation traffic flow, uploading a simulation map and the test scene to obtain a simulation traffic flow, performing pretesting on the traffic flow, if the pretesting fails, modifying related parameters to regenerate the test scene, if the pretesting passes, directly performing the test, checking the test process in the test process, after the test is finished, acquiring test process data and test result data, and finishing the test.
If a preset test scene is needed, judging whether the current test process is a batch test, if so, selecting simulation maps and test scenes in batches according to the quantity contained in the test request in a preset test packet, if not, selecting the simulation maps and the test scenes according to the test request, generating a simulation traffic flow based on the selected simulation maps and the test scenes, judging whether to execute immediately, if not, setting the test execution time, judging whether the test time is reached, if not, waiting, if so, testing the automatic driving algorithm to be tested according to the simulation traffic flow, checking the test process in the test process, acquiring test process data and test result data after the test is finished, and finishing the test.
Based on the above testing process, an interaction process between the algorithm server (including the user side and the algorithm terminal) and the simulation cloud platform is as shown in fig. 3, an algorithm operating environment is set up in the algorithm server in advance, a testing test is performed based on the algorithm operating environment, and the testing process is the same as the testing process in fig. 1 and is not repeated.
In the embodiment of the invention, the journey test at the algorithm server side is realized based on the simulation cloud platform, and a more comprehensive test can be provided for the automatic driving algorithm based on a complete map and a huge scene library of the simulation cloud platform, so that problems in the algorithm can be found as soon as possible.
In the embodiment of the present invention, an automatic driving algorithm simulation test device is further provided, which is applied to an algorithm server, where the algorithm server reads configuration parameters of a simulation cloud platform in advance, and performs configuration based on the configuration parameters, and a structural block diagram of the test device is shown in fig. 4, where the structural block diagram includes:
a determination module 201, a sending module 202, a receiving and testing module 203 and a receiving module 204.
Wherein the content of the first and second substances,
the determining module 201 is configured to determine a simulation map and a test scene of an automatic driving algorithm to be tested;
the sending module 202 is configured to send the simulation map and the test scenario to the simulation cloud platform, so that the simulation cloud platform generates a simulation traffic flow based on the simulation map and the test scenario, and sends the simulation traffic flow to the algorithm server;
the receiving and testing module 203 is configured to receive the simulation communication, perform a simulation test on the to-be-tested automatic driving algorithm based on the simulation traffic flow to obtain test result data, send the test result data to the simulation cloud platform, so that the simulation cloud platform generates a test report based on the test result data, and send the test report to the algorithm server;
the receiving module 204 is configured to receive the test report.
In this embodiment of the present invention, the determining module 201 includes:
a judging unit 205, a selecting unit 206 and a receiving unit 207.
Wherein the content of the first and second substances,
the judging unit 205 is configured to judge whether the automatic driving algorithm to be tested needs to adopt a preset test scenario;
the selecting unit 206 is configured to select the simulation map and the test scenario from a preset test package, or;
the receiving unit 207 is configured to receive the simulation map and the test scene uploaded by the user if the simulation map and the test scene are not uploaded by the user.
In this embodiment of the present invention, the receiving and testing module 203 further includes:
a pretest unit 208 and an adjustment unit 209.
Wherein the content of the first and second substances,
the pretesting unit 208 is configured to perform a pretest based on the simulated traffic flow;
the adjusting unit 209 is configured to adjust the simulated traffic flow if the pretest process fails.
In this embodiment of the present invention, the receiving and testing module 203 includes:
a load unit 210 and a test unit 211.
Wherein the content of the first and second substances,
the loading unit 210 is configured to load a simulation dynamics model for the to-be-tested autopilot algorithm to obtain a to-be-tested vehicle model;
the testing unit 211 is configured to test the to-be-tested automatic driving test algorithm based on the to-be-tested vehicle model in the simulated traffic flow.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when implementing the invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The simulation test method and the simulation test device for the automatic driving algorithm provided by the invention are introduced in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A simulation test method of an automatic driving algorithm is applied to an algorithm server, the algorithm server reads configuration parameters of a simulation cloud platform in advance and carries out configuration based on the configuration parameters, and the test method comprises the following steps:
determining a simulation map and a test scene of an automatic driving algorithm to be tested;
sending the simulation map and the test scene to the simulation cloud platform, so that the simulation cloud platform generates a simulation traffic flow based on the simulation map and the test scene, and sending the simulation traffic flow to the algorithm server;
receiving the simulation communication, performing simulation test on the automatic driving algorithm to be tested based on the simulation traffic flow to obtain test result data, sending the test result data to the simulation cloud platform, enabling the simulation cloud platform to generate a test report based on the test result data, and sending the test report to the algorithm server;
receiving the test report.
2. The method of claim 1, wherein determining a simulation map and test scenarios for an autonomous driving algorithm to be tested comprises:
judging whether the automatic driving algorithm to be tested needs to adopt a preset test scene;
if yes, selecting the simulation map and the test scene in a preset test packet, or;
and if not, receiving the simulation map and the test scene uploaded by the user.
3. The method of claim 1, wherein receiving the simulated communication further comprises:
performing a pretest based on the simulated traffic flow;
and if the pretesting process does not pass, adjusting the simulated traffic flow.
4. The method of claim 1, wherein receiving the simulated communication further comprises:
acquiring preset test time;
and judging whether the current time reaches the preset test time.
5. The method of claim 1, wherein the automated driving algorithm to be tested is simulation tested based on the simulated traffic flow, comprising:
loading a simulation dynamic model for the automatic driving algorithm to be tested to obtain a tested vehicle model;
and testing the automatic driving algorithm to be tested based on the tested vehicle model in the simulated traffic flow.
6. The method of claim 1, further comprising:
acquiring test process data;
a test procedure is reviewed based on the test procedure data.
7. The simulation testing device of the automatic driving algorithm is applied to an algorithm server, the algorithm server reads configuration parameters of a simulation cloud platform in advance, and configuration is carried out based on the configuration parameters, and the testing device comprises:
the determining module is used for determining a simulation map and a test scene of the automatic driving algorithm to be tested;
the sending module is used for sending the simulation map and the test scene to the simulation cloud platform so as to enable the simulation cloud platform to generate a simulation traffic flow based on the simulation map and the test scene and send the simulation traffic flow to the algorithm server;
the receiving and testing module is used for receiving the simulation communication, carrying out simulation testing on the automatic driving algorithm to be tested based on the simulation traffic flow to obtain test result data, sending the test result data to the simulation cloud platform, enabling the simulation cloud platform to generate a test report based on the test result data, and sending the test report to the algorithm server;
and the receiving module is used for receiving the test report.
8. The apparatus of claim 7, wherein the determining module comprises:
the judging unit is used for judging whether the automatic driving algorithm to be tested needs to adopt a preset test scene;
the selection unit is used for selecting the simulation map and the test scene in a preset test packet if the simulation map and the test scene are selected;
and the receiving unit is used for receiving the simulation map and the test scene uploaded by the user if the simulation map and the test scene are not uploaded by the user.
9. The apparatus of claim 7, wherein the receiving and testing module further comprises:
the pretesting unit is used for performing pretesting on the basis of the simulated traffic flow;
and the adjusting unit is used for adjusting the simulated traffic flow if the pretesting process does not pass.
10. The apparatus of claim 7, wherein the receiving and testing module comprises:
the loading unit is used for loading a simulation dynamic model for the automatic driving algorithm to be tested to obtain a tested vehicle model;
and the testing unit is used for testing the automatic driving algorithm to be tested based on the tested vehicle model in the simulated traffic flow.
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| CN112464461A (en) * | 2020-11-20 | 2021-03-09 | 北京赛目科技有限公司 | Method and device for constructing automatic driving test scene |
| CN112765812A (en) * | 2021-01-19 | 2021-05-07 | 中国科学院软件研究所 | Autonomous ability rapid evaluation method and system for unmanned system decision strategy |
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| CN113032262A (en) * | 2021-03-23 | 2021-06-25 | 重庆智行者信息科技有限公司 | Automatic simulation test method |
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| CN113602285A (en) * | 2021-08-05 | 2021-11-05 | 北京赛目科技有限公司 | Control method, device, equipment and medium for automatic driving of vehicle |
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| CN114070471B (en) * | 2021-11-29 | 2023-11-21 | 广州禹迹科技有限公司 | Test data packet transmission method, device, system, equipment and medium |
| CN114356757A (en) * | 2021-12-22 | 2022-04-15 | 重庆长安汽车股份有限公司 | Test condition configuration method based on limited automatic driving simulation scene |
| CN114895649A (en) * | 2022-04-23 | 2022-08-12 | 中国第一汽车股份有限公司 | Electric automobile thermal management system testing device, method and system and electronic equipment |
| CN115688484A (en) * | 2022-11-30 | 2023-02-03 | 西部科学城智能网联汽车创新中心(重庆)有限公司 | WebGL-based V2X simulation method and system |
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