CN113051772A - Software in-loop verification method of APA algorithm - Google Patents
Software in-loop verification method of APA algorithm Download PDFInfo
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- CN113051772A CN113051772A CN202110388170.1A CN202110388170A CN113051772A CN 113051772 A CN113051772 A CN 113051772A CN 202110388170 A CN202110388170 A CN 202110388170A CN 113051772 A CN113051772 A CN 113051772A
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- G06F30/20—Design optimisation, verification or simulation
Abstract
The invention discloses a software-in-loop verification method of an APA algorithm, which comprises the following main steps of performing in-loop verification of the APA algorithm under a scene built based on simulation software: s1, building a simulation parking space environment in VTD simulation software; s2, compiling and loading the APA algorithm into VTD simulation software; s3 carries out algorithm function verification test on the APA algorithm in S2 through the simulated parking space environment in S1; s4 repeating steps S1-S3 after the APA algorithm is improved and iterated to update; the method has the advantages of getting rid of the dependence of the traditional software algorithm verification method on real vehicle, equipment and environment, and solving the problems of low real vehicle test verification coverage rate, long test verification period, low efficiency, prolonged overall development verification progress, raised cost and the like.
Description
Technical Field
The invention relates to the field of software on-loop verification methods of APA (advanced persistent authentication architecture) algorithms, in particular to a software on-loop verification method of an APA algorithm.
Background
At present, the verification of an APA (Advanced Park Assistance system) algorithm mostly adopts a manual mode of real vehicle real scene, namely, algorithm software is compiled and burned on a real vehicle, the existing roadside parking spaces, open parking lots, underground parking garages and the like are used as actual parking space scenes, the existing parking spaces are used as parking space type verification cases, the current temperature, humidity and light intensity are used as dynamic surrounding environments, a vehicle driving operator controls the vehicle to perform parking space identification and parking garage test, and testers record performance parameters obtained in the parking space identification and parking process. Generally, more than 10 times of tests are continuously carried out in the same environment, the same scene and the same parking space to obtain test data, and then the testers carry out parameter combing and summarizing to complete the test and verification of the APA algorithm. The method is limited by the existing parking space scene and the surrounding environment, the coverage rate of test cases is low, the time for manually arranging and adjusting the parking space is long, the test verification period is too long, the efficiency is low, and the real vehicle verification consumes too many resources and is not environment-friendly.
The invention provides a software in-loop verification method of an APA algorithm, which solves the problems.
Disclosure of Invention
The invention aims to solve the technical problems that the traditional software algorithm verification method depends on real vehicle, equipment and environment, the real vehicle test verification coverage rate is low, the test verification period is long, the efficiency is low, the overall development verification progress is long, and the cost is high, and provides a software in-loop verification method of an APA algorithm, wherein the software in-loop verification method of the APA algorithm comprises the following steps:
the method is characterized in that the in-loop verification of the APA algorithm is carried out under the scene built based on simulation software, and the method mainly comprises the following steps:
s1, building a simulation parking space environment in VTD simulation software;
s2, compiling and loading the APA algorithm into VTD simulation software;
s3 carries out algorithm function verification test on the APA algorithm in S2 through the simulated parking space environment in S1;
s4 repeating steps S1-S3 after the APA algorithm is updated with the improvement iteration.
Further, the simulated parking space environment comprises: parking space type, parking space size, parking space range, peripheral obstacles, road pavement conditions, weather conditions, illumination conditions and humidity conditions.
Further, the compiling and loading the APA algorithm into the VTD simulation software includes:
the APA algorithm is an APA algorithm which is never subjected to the step S4 and/or an APA algorithm which is improved and updated by the step S4.
Further, the algorithm function verification test includes a regression test of the APA algorithm after the update iteration of step S4.
The implementation of the invention has the following beneficial effects:
the method gets rid of the dependence of the traditional software algorithm verification method on the real vehicle, equipment and environment, and solves the problems of low real vehicle test verification coverage rate, long test verification period, low efficiency and cost increase of the overall development verification progress.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Examples
In this embodiment, referring to fig. 1 of the specification, a technical problem to be solved in this embodiment is that a conventional APA algorithm function verification method is to install an ultrasonic radar with an APA function and a look-around camera on a real vehicle, a real vehicle function test is performed in a real parking space environment to verify that an APA algorithm function or software logic is effectively improved and iteratively updated, and a test process is mainly divided into steps of APA algorithm software release, real vehicle verification that a problem is found to be improved, real vehicle discovery that a problem is found to be improved or a new problem is found, recording a feedback problem, and iteratively updating APA algorithm software, and problems of low real vehicle test verification coverage, long test verification period, low efficiency, prolonged overall development verification progress, raised cost, and the like exist. In order to solve the above technical problem, this embodiment provides a software-in-loop verification method for an APA algorithm, and provides a software-in-loop verification method for an APA algorithm, where the software-in-loop verification method for an APA algorithm includes:
the method is characterized in that the in-loop verification of the APA algorithm is carried out under the scene built based on simulation software, and the method mainly comprises the following steps:
s1, building a simulation parking space environment in VTD simulation software;
s2, compiling and loading the APA algorithm into VTD simulation software;
s3 carries out algorithm function verification test on the APA algorithm in S2 through the simulated parking space environment in S1;
s4 repeating steps S1-S3 after the APA algorithm is updated with the improvement iteration.
In a specific embodiment, the simulated parking space environment includes: parking space type, parking space size, parking space range, peripheral obstacles, road pavement conditions, weather conditions, illumination conditions and humidity conditions.
In a specific embodiment, the compiling and loading the APA algorithm into the VTD simulation software includes:
the APA algorithm is an APA algorithm which is never subjected to the step S4 and/or an APA algorithm which is improved and updated by the step S4.
In a specific embodiment, the algorithm function verification test includes a regression test of the APA algorithm after the update iteration of step S4.
Principle of implementation of the present embodiment
Firstly, a simulation parking space environment is built in VTD simulation software. Namely, a computer workstation and VTD simulation tool software are used for building a simulation parking place scene environment which comprises parking place types, parking place sizes, parking place ranges, peripheral obstacles, road pavement conditions, weather, illumination and humidity conditions.
The VTD simulation software is simulation software supporting various road scene environments and is widely applied to model-in-loop, software-in-loop and hardware-in-loop test and verification in the early stage of development of automatic driving systems and intelligent driving systems. Abundant road scene environmental parameters in VTD software can support to carry out accurate parameter setting to various environmental conditions in the nature, also supports to carry out detailed parameter setting to parking stall scene environment, can set up according to verifying the demand is nimble.
And secondly, compiling and loading the APA algorithm into VTD simulation software.
The method comprises the steps of compiling and loading new APA algorithm software released by an APA algorithm research and development team or APA algorithm software which is improved and updated iteratively in a debugging process into VTD simulation software according to a format corresponding to hardware design.
And thirdly, performing algorithm function verification test on the APA algorithm in the second step by simulating the parking space environment in the first step to realize software in-loop test verification.
The method comprises the steps that function verification tests are carried out on functions which are already realized by APA algorithm software of the current version under the environment of a corresponding simulation parking place scene, and if the APA algorithm functions meet the requirements of design specifications, the residual functions are continuously developed in an iterative mode; otherwise, recording and feeding back the problems found in the test verification process, and verifying after the APA algorithm software is improved and updated.
And fourthly, after the APA algorithm is improved and iterated to update, repeating the first step to the third step.
The verification test result is obtained through the algorithm software verification test, algorithm optimization and re-verification are carried out according to the result, and the APA algorithm software in-loop function verification test method is realized.
According to the technical method provided by the invention, the parking space scene is built in the VTD simulation environment, so that the APA algorithm function is verified, an important and timely verification effect is achieved in the development process, the rapid verification of the algorithm function, the rapid submission of the test report and the rapid feedback of the problem are realized in the early development stage of software, the verification test efficiency is greatly improved, meanwhile, sufficient improvement iteration time is reserved for a software algorithm team, the vehicle cost and the labor cost of the subsequent real vehicle verification test are saved, the software development progress and the overall project development progress are accelerated, the product delivery cycle is shortened, and the product competitiveness of a company is enhanced.
The method gets rid of the dependence of the traditional software algorithm verification method on the real vehicle, equipment and environment, and solves the problems of low real vehicle test verification coverage rate, long test verification period, low efficiency and cost increase of the overall development verification progress.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. A software on-ring verification method of an APA algorithm is characterized by comprising the following steps of performing on-ring verification of the APA algorithm under a scene built based on simulation software:
s1, building a simulation parking space environment in VTD simulation software;
s2, compiling and loading the APA algorithm into VTD simulation software;
s3 carries out algorithm function verification test on the APA algorithm in S2 through the simulated parking space environment in S1;
s4 repeating steps S1-S3 after the APA algorithm is updated with the improvement iteration.
2. The software-in-the-loop verification method of the APA algorithm of claim 1, wherein the simulated parking space environment comprises: parking space type, parking space size, parking space range, peripheral obstacles, road pavement conditions, weather conditions, illumination conditions and humidity conditions.
3. The software-in-loop verification method for the APA algorithm of claim 2, wherein the compiling and loading the APA algorithm into the VTD emulation software comprises:
the APA algorithm is an APA algorithm which is never subjected to the step S4 and/or an APA algorithm which is improved and updated by the step S4.
4. The software-in-the-loop verification method for the APA algorithm of claim 3, wherein the algorithm function verification test comprises a regression test of the APA algorithm after the update iteration of step S4.
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Citations (5)
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| CN105652690A (en) * | 2016-01-13 | 2016-06-08 | 重庆长安汽车股份有限公司 | In-loop test system and method for automatic parking system vehicle |
| CN108508761A (en) * | 2018-03-28 | 2018-09-07 | 惠州市德赛西威汽车电子股份有限公司 | A kind of AEB algorithm function verification methods based on CarMaker simulated environment |
| CN110032809A (en) * | 2019-04-16 | 2019-07-19 | 中国汽车工程研究院股份有限公司 | One kind is parked scene virtual reconstruction method |
| CN111967129A (en) * | 2020-07-06 | 2020-11-20 | 上海工程技术大学 | Longitudinal obstacle avoidance verification method based on CarMaker simulation environment |
| CN112596502A (en) * | 2020-12-18 | 2021-04-02 | 芜湖雄狮汽车科技有限公司 | Hardware-in-loop test system and method for automatic parking system |
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- 2021-04-12 CN CN202110388170.1A patent/CN113051772A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105652690A (en) * | 2016-01-13 | 2016-06-08 | 重庆长安汽车股份有限公司 | In-loop test system and method for automatic parking system vehicle |
| CN108508761A (en) * | 2018-03-28 | 2018-09-07 | 惠州市德赛西威汽车电子股份有限公司 | A kind of AEB algorithm function verification methods based on CarMaker simulated environment |
| CN110032809A (en) * | 2019-04-16 | 2019-07-19 | 中国汽车工程研究院股份有限公司 | One kind is parked scene virtual reconstruction method |
| CN111967129A (en) * | 2020-07-06 | 2020-11-20 | 上海工程技术大学 | Longitudinal obstacle avoidance verification method based on CarMaker simulation environment |
| CN112596502A (en) * | 2020-12-18 | 2021-04-02 | 芜湖雄狮汽车科技有限公司 | Hardware-in-loop test system and method for automatic parking system |
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Effective date of registration: 20220316 Address after: 200000 building 20, Lane 1000, zhangheng Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Applicant after: MOTOVIS TECHNOLOGY (SHANGHAI) CO.,LTD. Address before: 200240 room 1001, 1st floor, building B, 555 Dongchuan Road, Minhang District, Shanghai Applicant before: SHANGHAI NETCAR TECH LTD. |
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Application publication date: 20210629 |