CN113282069A - Chassis line control test method and device, computer equipment and storage medium - Google Patents
Chassis line control test method and device, computer equipment and storage medium Download PDFInfo
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- CN113282069A CN113282069A CN202110368806.6A CN202110368806A CN113282069A CN 113282069 A CN113282069 A CN 113282069A CN 202110368806 A CN202110368806 A CN 202110368806A CN 113282069 A CN113282069 A CN 113282069A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The application relates to a chassis drive-by-wire test method, a chassis drive-by-wire test device, computer equipment and a storage medium. The method comprises the following steps: executing the test case, and sending a control instruction to the chassis virtual system according to the test case so as to instruct the chassis virtual system to control the line control object according to the control instruction; receiving vehicle state information returned by a chassis virtual system in real time; sending a line control failure control instruction according to the test case; and obtaining a test result according to the vehicle state information and the wire control failure control instruction. The method comprises the following steps: receiving a control instruction sent by a test end, and controlling a line control object according to the control instruction; receiving a drive-by-wire failure control instruction, and controlling a corresponding drive-by-wire object according to the drive-by-wire failure control instruction; and acquiring vehicle state information corresponding to the wire control object in real time, and sending the vehicle state information to the test end in real time, wherein the vehicle state information is used for the test end to obtain a test result according to the wire control failure control instruction. By adopting the method, the testing efficiency and the safety can be improved.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a chassis drive-by-wire test method, apparatus, computer device, and storage medium.
Background
With the development of artificial intelligence technology, automated vehicles, also known as robotic vehicles, autonomous vehicles, or unmanned vehicles, have emerged, as a vehicle that can sense its environment and travel with little or no manual input. Autonomous vehicles incorporate a variety of sensors to sense the surrounding environment, such as radar, lidar, sonar, global positioning systems, and odometers and inertial measurement units. Advanced control systems interpret the sensed information to identify appropriate navigation paths, obstacles, and associated landmarks.
The drive-by-wire of the unmanned technology is the basis of automatic driving, and the traditional unmanned vehicle needs to be subjected to drive-by-wire testing on a real vehicle.
However, the existing wire control test method for real vehicles has low test efficiency, and the real vehicle test itself has safety problems.
Disclosure of Invention
In view of the above, it is necessary to provide a chassis line control test method, apparatus, computer device and storage medium capable of improving test efficiency and safety.
A chassis line control test method is applied to a test end, and comprises the following steps:
executing a test case, and sending a control instruction to a chassis virtual system according to the test case, wherein the control instruction is used for indicating the chassis virtual system to control a line control object according to the control instruction;
receiving vehicle state information returned by the chassis virtual system in real time;
sending a line control failure control instruction according to the test case;
and obtaining a test result according to the vehicle state information and the drive-by-wire failure control instruction.
In one embodiment, the obtaining a test result according to the vehicle state information and the drive-by-wire failure control instruction includes:
acquiring a failure object and a failure state corresponding to the wire control failure control instruction;
when the vehicle state information is consistent with the failure object and the failure state, outputting a test result of successful test;
and when the vehicle state information is inconsistent with the failure object and the failure state, outputting a test result of test failure.
In one embodiment, the real-time receiving of the vehicle status information returned by the chassis virtual system includes:
circularly receiving vehicle state information returned by the chassis virtual system in the test case main cycle;
the sending of the line control failure control instruction according to the test case comprises the following steps:
and in the thread parallel to the main loop, sending a drive-by-wire failure control instruction according to the test case.
In one embodiment, the method further comprises:
and sending wire control configuration information to the chassis virtual system through network communication, wherein the wire control configuration information is used for indicating the chassis virtual system to configure each wire control object.
A chassis line control test method is applied to a chassis virtual system, and comprises the following steps:
receiving a control instruction sent by a test end, and controlling a line control object according to the control instruction;
receiving a drive-by-wire failure control instruction, and controlling a corresponding drive-by-wire object according to the drive-by-wire failure control instruction;
and acquiring vehicle state information corresponding to each line control object in real time, and sending the vehicle state information to the test end in real time, wherein the vehicle state information is used for the test end to obtain a test result according to the line control failure control instruction.
In one embodiment, the method further comprises:
and displaying the vehicle state information corresponding to each drive-by-wire object in real time.
In one embodiment, the method further comprises:
receiving input line control configuration information, and configuring a line control object according to the line control configuration information; or
Adjusting configuration information of the line-control object based on the displayed vehicle state information.
A chassis line control test device is applied to a test end, and comprises:
the first sending module is used for executing a test case and sending a control instruction to a chassis virtual system according to the test case, wherein the control instruction is used for indicating the chassis virtual system to control a line control object according to the control instruction;
the receiving module is used for receiving the vehicle state information returned by the chassis virtual system in real time;
the second sending module is used for sending the wire control failure control instruction according to the test case;
and the test result acquisition module is used for acquiring a test result according to the vehicle state information and the drive-by-wire failure control instruction.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method as described in any one of the above embodiments when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as set forth in any one of the above embodiments.
According to the chassis line control test method, the chassis line control test device, the computer equipment and the storage medium, a chassis virtual system is adopted instead of a real vehicle test, so that the safety can be improved, in addition, the chassis virtual system is controlled by executing a test case, the vehicle state information is obtained, the test efficiency can be improved, and finally, the virtual system is adopted instead of the real vehicle test, so that when a failure control instruction is introduced, the danger caused by the failure of the real vehicle test can be avoided, and the test safety can be improved.
Drawings
FIG. 1 is a diagram of an environment in which a chassis line control test method according to an embodiment is applied;
FIG. 2 is a schematic flow chart of a chassis drive-by-wire test method according to an embodiment;
FIG. 3 is a flow chart illustrating a chassis drive-by-wire test method according to another embodiment;
FIG. 4 is a timing diagram of a chassis line control test method in one embodiment;
FIG. 5 is a block diagram showing the structure of a chassis drive-by-wire test apparatus according to an embodiment;
FIG. 6 is a block diagram showing the structure of a chassis test-by-wire apparatus according to another embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The chassis drive-by-wire test method provided by the application can be applied to the application environment shown in fig. 1. The test terminal 102 communicates with the vehicle chassis virtual system 104, which may include a CAN communication and a network communication mode, the vehicle chassis virtual system 104 may include a virtual drive-by-wire module, a CAN module, a drive-by-wire configuration system and a visualization system, where the CAN module is used for the chassis virtual system 104 to communicate with the test terminal 102, and the virtual drive-by-wire system may include but is not limited to functional modules such as steering, gear, throttle, emergency stop, brake, and status. The wire control configuration system can be used for configuring wire control response delay, wire control steady-state error, wire control overshoot error, an actuating mechanism model, a failure model and the like. The visualization system may be configured to display the chassis operating status and the vehicle operating status. Optionally, the visualization system may also display the chassis operating status and the vehicle operating status at the time of the test.
The test end 102 executes the test case and sends a control instruction to the chassis virtual system according to the test case, so that the chassis virtual system 104 controls the line control object according to the control instruction, collects vehicle state information in real time and sends the vehicle state information to the test end 102. The test end 102 sends the wire control failure control instruction according to the test case, and further obtains the vehicle state information after the aging control instruction, so that the test end 102 obtains a test result according to the vehicle state information and the wire control failure control instruction.
The testing terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices. The test end 102 is preferably an embedded system. The chassis virtualization system 104 may be implemented by a virtual machine.
In one embodiment, as shown in fig. 2, a chassis by-wire test method is provided, which is described by taking the method as an example applied to the test end in fig. 1, and includes the following steps:
s202: and executing the test case, and sending a control instruction to the chassis virtual system according to the test case, wherein the control instruction is used for indicating the chassis virtual system to control the line control object according to the control instruction.
Specifically, the test case is preset, and may include at least one control instruction, and the test end may include a CAN module and an automated test module, where the automated test module is configured to control execution of the test case, and then send the control instruction to the chassis virtual system through the CAN module.
The drive-by-wire object is an object to be controlled by the virtual drive-by-wire module, which may include, but is not limited to, steering, gear, throttle, emergency stop, brake, and status function modules. And the virtual line control module controls the line control object according to the control instruction and acquires the state of the line control object.
The chassis virtual system CAN receive a control instruction through the CAN module, then analyzes the message to obtain the control instruction, and further the virtual drive-by-wire module controls the corresponding drive-by-wire object according to the control instruction.
S204: and receiving the vehicle state information returned by the chassis virtual system in real time.
Specifically, the vehicle state information may include, but is not limited to, a chassis operating state including, but not limited to, steering, throttle, and braking, and a vehicle operating state including, but not limited to, vehicle speed, acceleration, and heading.
And the virtual drive-by-wire module of the chassis virtual system can control the virtual chassis according to the control instruction, acquire the vehicle state information and feed the vehicle state information back to the test end. Optionally, the chassis virtual system may collect the vehicle state information and feed the vehicle state information back to the test end after executing the control instruction each time, or the chassis virtual system periodically collects the vehicle state information according to a time period and feeds the vehicle state information back to the test end. The chassis virtual system CAN convert the collected vehicle state information into a CAN message through the CAN module and send the CAN message to the test end.
S206: and sending a line control failure control instruction according to the test case.
Specifically, the failure control instruction may be sent based on a test case, or may be randomly introduced according to a preconfigured failure model.
For example, the test end sends a drive-by-wire failure control instruction to the vehicle chassis virtual system, and then the vehicle chassis virtual system executes a failure model to introduce a random functional failure state according to configuration, for example, the failure of the EPS steering actuator, where the failure model is the failure of the actuator with random probability.
And it should be noted that the chassis virtual system still collects the vehicle state information in real time after executing the wire control failure control instruction, and sends the vehicle state information to the test end. Or the chassis virtual system starts to collect the vehicle state information in real time and sends the vehicle state information to the test end after executing the wire control failure control instruction.
In addition, it should be noted that the test end may not send the failure-by-wire control command to the vehicle chassis virtual system, but the vehicle chassis virtual system randomly introduces the failure state according to the preconfigured failure model.
In addition, it should be noted that multiple failure states can be introduced at intervals in one test to complete the test at one time, thereby improving the test efficiency. For example, the test end may be preconfigured with a plurality of failure states, and during testing, the failure states may be sequentially introduced according to a preset time interval and a sequence of the failure states, so that after the failure state is introduced each time, whether the failure state is detected is determined, and if so, it is indicated that the chassis virtual system can detect the failure state, and the test is successful. If at least one failure state is not detected, the test fails, namely the current bug of the vehicle chassis virtual system is indicated, and the corresponding failure state cannot be detected, and the undetected failure state can be output at the moment, so that an engineer can improve codes aiming at the failure state. The time interval may be preset by a user, and may be dynamically set at the test end, for example, after the test end detects a failure state, a next failure state is introduced after a preset delay time, where the delay time may be preconfigured, and thus the time interval is the sum of the delay time and the detection time, where the detection time is a time period between a time when the failure state is introduced and a time when the failure state is detected. In addition, if the failure condition is not detected for a long time, for example, the failure condition is not detected within a maximum time that can be tolerated to avoid danger, the test is failed. The failure state is the failure state of the above-mentioned drive-by-wire object, such as failure of steering, gear, accelerator, emergency stop, brake, etc.
S208: and obtaining a test result according to the vehicle state information and the drive-by-wire failure control instruction.
Specifically, the test terminal introduces a drive-by-wire failure state in the test process, so that if the vehicle chassis virtual system detects the failure state, namely the failure state corresponds to the drive-by-wire failure control instruction, the test is passed, otherwise, the test fails.
According to the chassis line control test method, the chassis virtual system is adopted instead of real vehicle test, so that the safety can be improved, in addition, the chassis virtual system is controlled by executing the test case, the vehicle state information is obtained, the test efficiency can be improved, finally, the virtual system is adopted instead of the real vehicle test, so that when a failure control instruction is introduced, the danger caused by the failure of the real vehicle test can be avoided, and the test safety can be improved.
In one embodiment, obtaining the test result according to the vehicle state information and the drive-by-wire failure control command comprises: acquiring a failure object and a failure state corresponding to the wire control failure control instruction; when the vehicle state information is consistent with the failure object and the failure state, outputting a test result of successful test; and when the vehicle state information is inconsistent with the failure object and the failure state, outputting a test result of test failure.
Specifically, the test end may obtain a failure object and a failure state corresponding to the by-wire failure control instruction, that is, obtain a randomly failed object and a failure state in a pre-configured failure model. And then the test end judges whether the failure object in the vehicle state information fed back by the chassis virtual system is consistent with the failure object in the failure model, if so, the test end continuously judges whether the failure state is consistent, if so, the test is successful, and if at least one of the failure object or the failure state is inconsistent, the test is failed.
In the above embodiment, the failure state is introduced to determine whether the virtual system of the chassis can detect the failure state, so as to determine whether the test is passed.
In one embodiment, the real-time receiving of the vehicle status information returned by the chassis virtual system comprises: in the test case main cycle, circularly receiving vehicle state information returned by the chassis virtual system; sending a line control failure control instruction according to the test case, comprising: and in the thread parallel to the main loop, sending a drive-by-wire failure control instruction according to the test case.
Specifically, the test case comprises a thread with parallel loops and a main loop, wherein in the main loop of the test case, vehicle state information returned by the chassis virtual system is mainly received in a real-time loop manner so as to judge whether a failure state is detected in real time.
The thread parallel to the main loop is used for sending a control instruction, such as a failure-by-wire control instruction, a normal-by-wire control instruction, or the like.
Optionally, the feedback of the vehicle state information may be performed only when the failure state is detected, so that resources of CAN communication may be saved.
In one embodiment, the chassis line control test method may further include: and sending the wire-controlled configuration information to the chassis virtual system through network communication, wherein the wire-controlled configuration information is used for indicating the chassis virtual system to configure each wire-controlled object.
Referring to fig. 1, network communication also exists between the test end and the vehicle chassis virtual system, wherein the test end can remotely configure each line control object of the vehicle chassis virtual system in a network communication manner, and the configuration includes, but is not limited to, a line control response delay, a line control steady-state error, a line control overshoot error, an actuator model, and a failure model.
In one embodiment, as shown in fig. 3, a chassis by-wire test method is provided, which is described by taking the method as an example for being applied to the vehicle chassis virtual system in fig. 1, and includes the following steps:
s302: and receiving a control instruction sent by the test end, and controlling the line control object according to the control instruction. Specifically, the automatic test module is used for controlling the execution of the test case and then sending a control instruction to the chassis virtual system through the CAN module.
The drive-by-wire object is an object to be controlled by the virtual drive-by-wire module, which may include, but is not limited to, steering, gear, throttle, emergency stop, brake, and status function modules. And the virtual line control module controls the line control object according to the control instruction and acquires the state of the line control object.
The chassis virtual system CAN receive a control instruction through the CAN module, then analyzes the message to obtain the control instruction, and further the virtual drive-by-wire module controls the corresponding drive-by-wire object according to the control instruction.
S304: and receiving the drive-by-wire failure control instruction, and controlling the corresponding drive-by-wire object according to the drive-by-wire failure control instruction.
Specifically, the failure control instruction may be sent based on a test case, or may be randomly introduced according to a preconfigured failure model.
For example, the test end sends a drive-by-wire failure control instruction to the vehicle chassis virtual system, and then the vehicle chassis virtual system executes a failure model to introduce a random functional failure state according to configuration, for example, the failure of the EPS steering actuator, where the failure model is the failure of the actuator with random probability.
And it should be noted that the chassis virtual system still collects the vehicle state information in real time after executing the wire control failure control instruction, and sends the vehicle state information to the test end. Or the chassis virtual system starts to collect the vehicle state information in real time and sends the vehicle state information to the test end after executing the wire control failure control instruction.
In addition, it should be noted that the test end may not send the failure-by-wire control command to the vehicle chassis virtual system, but the vehicle chassis virtual system randomly introduces the failure state according to the preconfigured failure model.
S306: and acquiring vehicle state information corresponding to each line control object in real time, and sending the vehicle state information to the test end in real time, wherein the vehicle state information is used for the test end to obtain a test result according to the line control failure control instruction.
Specifically, the vehicle state information may include, but is not limited to, a chassis operating state including, but not limited to, steering, throttle, and braking, and a vehicle operating state including, but not limited to, vehicle speed, acceleration, and heading.
And the virtual drive-by-wire module of the chassis virtual system can control the virtual chassis according to the control instruction, acquire the vehicle state information and feed the vehicle state information back to the test end. Optionally, the chassis virtual system may collect the vehicle state information and feed the vehicle state information back to the test end after executing the control instruction each time, or the chassis virtual system periodically collects the vehicle state information according to a time period and feeds the vehicle state information back to the test end. The chassis virtual system CAN convert the collected vehicle state information into a CAN message through the CAN module and send the CAN message to the test end.
The test terminal introduces a drive-by-wire failure state in the test process, so that if the chassis virtual system detects the failure state, namely the failure state corresponds to the drive-by-wire failure control instruction, the test is passed, otherwise, the test fails.
According to the chassis line control test method, the chassis virtual system is adopted instead of real vehicle test, so that the safety can be improved, in addition, the chassis virtual system is controlled by executing the test case, the vehicle state information is obtained, the test efficiency can be improved, finally, the virtual system is adopted instead of the real vehicle test, so that when a failure control instruction is introduced, the danger caused by the failure of the real vehicle test can be avoided, and the test safety can be improved.
In one embodiment, the chassis line control test method further includes: and displaying the vehicle state information corresponding to each drive-by-wire object in real time.
In one embodiment, the chassis line control test method further includes: receiving input line control configuration information, and configuring a line control object according to the line control configuration information; or adjusting configuration information of the line control object based on the displayed vehicle state information.
Specifically, as shown in fig. 1, the vehicle chassis virtual system may further include a visualization system, where the visualization system may display vehicle state information corresponding to each drive-by-wire object in real time, for example, may visually display a chassis operating state including steering, throttle, brake, and the like in real time, and may also visually display a vehicle operating state including a vehicle speed, an acceleration, an orientation, and the like in real time.
In addition, the visualization system can also be used for configuring a virtual system of the vehicle chassis, for example, displaying vehicle state information corresponding to each drive-by-wire object in real time, and receiving an input adjustment instruction for the vehicle state to complete initial configuration.
Specifically, referring to fig. 4, fig. 4 is a timing diagram of a chassis drive-by-wire test method in an embodiment, in which a test end runs an automated drive-by-wire test module, and performs simulated CAN drive-by-wire control with a chassis virtual system through CAN communication. The test end can also communicate with the vehicle chassis virtual system through network communication to acquire other states and configurations of the vehicle chassis virtual system, and in addition, the test end can be remotely configured.
The virtual wire control module in the virtual system of the chassis CAN be disassembled to control the virtual chassis according to the CAN wire control and return to the corresponding vehicle state, and the wire control configuration system in the virtual system of the chassis CAN be configured with a wire control response delay, a wire control steady-state error, a wire control overshoot error, an execution mechanism model and a failure model, CAN be used for simulating the chassis wire control under the real vehicle environment and CAN also introduce a random function failure state according to the configuration. The visual system in the virtual system of the chassis can visually display the working state of the chassis in real time, including steering, accelerator, brake and the like, and can also display the working state of the vehicle, including speed, acceleration, orientation and the like.
Specifically, in conjunction with fig. 4, the chassis virtualization system and the test terminal are initialized, i.e., started, to establish CAN communication therebetween.
The test end runs the test case to execute the drive-by-wire command according to the preset requirement, namely the control instruction in the test case, namely the instruction in the test case of the test end is sent to the chassis virtual system, so that the instructions are executed according to the execution mechanism model in the drive-by-wire configuration system.
The vehicle chassis virtual system acquires the drive-by-wire state in real time in a test case main cycle, and randomly introduces a drive-by-wire failure state, such as temporary steering failure, in the test process.
And finally, if the test case detects failure and runs out according to the preset flow, the test passes, otherwise, the test fails.
It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 5, there is provided a chassis line control test apparatus including: a first sending module 100, a first receiving module 200, a second sending module 300 and a test result obtaining module 400, wherein:
the first sending module 100 is configured to execute the test case and send a control instruction to the chassis virtual system according to the test case, where the control instruction is used to instruct the chassis virtual system to control the line control object according to the control instruction;
the first receiving module 200 is configured to receive vehicle state information returned by the chassis virtual system in real time;
the second sending module 300 is configured to send a failure-by-wire control instruction according to the test case;
and the test result acquisition module 400 is configured to obtain a test result according to the vehicle state information and the failure-by-wire control command.
In one embodiment, the test result obtaining module 400 is configured to obtain a failure object and a failure state corresponding to the by-wire failure control instruction; when the vehicle state information is consistent with the failure object and the failure state, outputting a test result of successful test; and when the vehicle state information is inconsistent with the failure object and the failure state, outputting a test result of test failure.
In one embodiment, the first receiving module 200 is configured to circularly receive vehicle state information returned by the chassis virtual system in a test case main loop;
the second sending module 300 is configured to send the failure-by-wire control instruction according to the test case in a thread parallel to the main loop.
In one embodiment, the chassis line control test device further comprises:
the first configuration module is used for sending wire control configuration information to the chassis virtual system through network communication, and the wire control configuration information is used for indicating the chassis virtual system to configure each wire control object.
In one embodiment, as shown in fig. 6, there is provided a chassis line control test apparatus including: a second receiving module 500, a third receiving module 600 and a third sending module 700, wherein:
the second receiving module 500 is configured to receive a control instruction sent by the testing end, and control the line control object according to the control instruction;
a third receiving module 600, configured to receive the wire-control failure control instruction, and control the corresponding wire-control object according to the wire-control failure control instruction;
the third sending module 700 is configured to collect vehicle state information corresponding to each line-control object in real time, and send the vehicle state information to the testing end in real time, where the vehicle state information is used by the testing end to obtain a test result according to the line-control failure control instruction.
In one embodiment, the chassis line control test device further comprises:
and the display module is used for displaying the vehicle state information corresponding to each drive-by-wire object in real time.
In one embodiment, the chassis line control test device further comprises:
the fourth receiving module is used for receiving the input line control configuration information and configuring the line control object according to the line control configuration information; or
And the second configuration module is used for adjusting the configuration information of the line control object based on the displayed vehicle state information.
For specific definition of the chassis drive-by-wire test device, reference may be made to the definition of the chassis drive-by-wire test method above, and details are not repeated here. All or part of each module in the chassis line control testing device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a chassis drive-by-wire test method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: executing the test case, and sending a control instruction to the chassis virtual system according to the test case, wherein the control instruction is used for indicating the chassis virtual system to control the line control object according to the control instruction; receiving vehicle state information returned by a chassis virtual system in real time; sending a line control failure control instruction according to the test case; and obtaining a test result according to the vehicle state information and the drive-by-wire failure control instruction.
In one embodiment, the obtaining of the test result according to the vehicle state information and the failure-by-wire control instruction when the processor executes the computer program comprises: acquiring a failure object and a failure state corresponding to the wire control failure control instruction; when the vehicle state information is consistent with the failure object and the failure state, outputting a test result of successful test; and when the vehicle state information is inconsistent with the failure object and the failure state, outputting a test result of test failure.
In one embodiment, the real-time reception of vehicle status information returned by the chassis virtual system, as implemented by the processor executing the computer program, includes: in the test case main cycle, circularly receiving vehicle state information returned by the chassis virtual system; the method for sending the wire control failure control instruction according to the test case when the processor executes the computer program comprises the following steps: and in the thread parallel to the main loop, sending a drive-by-wire failure control instruction according to the test case.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and sending the wire-controlled configuration information to the chassis virtual system through network communication, wherein the wire-controlled configuration information is used for indicating the chassis virtual system to configure each wire-controlled object.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: receiving a control instruction sent by a test end, and controlling a line control object according to the control instruction; receiving a drive-by-wire failure control instruction, and controlling a corresponding drive-by-wire object according to the drive-by-wire failure control instruction; and acquiring vehicle state information corresponding to each line control object in real time, and sending the vehicle state information to the test end in real time, wherein the vehicle state information is used for the test end to obtain a test result according to the line control failure control instruction.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and displaying the vehicle state information corresponding to each drive-by-wire object in real time.
In one embodiment, the processor, when executing the computer program, further performs the steps of: receiving input line control configuration information, and configuring a line control object according to the line control configuration information; or adjusting configuration information of the line control object based on the displayed vehicle state information.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: executing the test case, and sending a control instruction to the chassis virtual system according to the test case, wherein the control instruction is used for indicating the chassis virtual system to control the line control object according to the control instruction; receiving vehicle state information returned by a chassis virtual system in real time; sending a line control failure control instruction according to the test case; and obtaining a test result according to the vehicle state information and the drive-by-wire failure control instruction.
In one embodiment, the computer program when executed by the processor implements obtaining test results based on the vehicle state information and the by-wire failure control instructions, comprising: acquiring a failure object and a failure state corresponding to the wire control failure control instruction; when the vehicle state information is consistent with the failure object and the failure state, outputting a test result of successful test; and when the vehicle state information is inconsistent with the failure object and the failure state, outputting a test result of test failure.
In one embodiment, the real-time reception of vehicle status information returned by the chassis virtual system, implemented when the computer program is executed by the processor, includes: in the test case main cycle, circularly receiving vehicle state information returned by the chassis virtual system; the computer program is used for sending the wire control failure control instruction according to the test case when being executed by the processor, and comprises the following steps: and in the thread parallel to the main loop, sending a drive-by-wire failure control instruction according to the test case.
In one embodiment, the computer program when executed by the processor further performs the steps of: and sending the wire-controlled configuration information to the chassis virtual system through network communication, wherein the wire-controlled configuration information is used for indicating the chassis virtual system to configure each wire-controlled object.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: receiving a control instruction sent by a test end, and controlling a line control object according to the control instruction; receiving a drive-by-wire failure control instruction, and controlling a corresponding drive-by-wire object according to the drive-by-wire failure control instruction; and acquiring vehicle state information corresponding to each line control object in real time, and sending the vehicle state information to the test end in real time, wherein the vehicle state information is used for the test end to obtain a test result according to the line control failure control instruction.
In one embodiment, the computer program when executed by the processor further performs the steps of: and displaying the vehicle state information corresponding to each drive-by-wire object in real time.
In one embodiment, the computer program when executed by the processor further performs the steps of: receiving input line control configuration information, and configuring a line control object according to the line control configuration information; or adjusting configuration information of the line control object based on the displayed vehicle state information.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A chassis line control test method is applied to a test end, and comprises the following steps:
executing a test case, and sending a control instruction to a chassis virtual system according to the test case, wherein the control instruction is used for indicating the chassis virtual system to control a line control object according to the control instruction;
receiving vehicle state information returned by the chassis virtual system in real time;
sending a line control failure control instruction according to the test case;
and obtaining a test result according to the vehicle state information and the drive-by-wire failure control instruction.
2. The method of claim 1, wherein obtaining test results based on the vehicle state information and the by-wire failure control command comprises:
acquiring a failure object and a failure state corresponding to the wire control failure control instruction;
when the vehicle state information is consistent with the failure object and the failure state, outputting a test result of successful test;
and when the vehicle state information is inconsistent with the failure object and the failure state, outputting a test result of test failure.
3. The method of claim 2, wherein the receiving in real time vehicle status information returned by the chassis virtual system comprises:
circularly receiving vehicle state information returned by the chassis virtual system in the test case main cycle;
the sending of the line control failure control instruction according to the test case comprises the following steps:
and in the thread parallel to the main loop, sending a drive-by-wire failure control instruction according to the test case.
4. The method of claim 1, further comprising:
and sending wire control configuration information to the chassis virtual system through network communication, wherein the wire control configuration information is used for indicating the chassis virtual system to configure each wire control object.
5. A chassis line control test method is applied to a chassis virtual system, and comprises the following steps:
receiving a control instruction sent by a test end, and controlling a line control object according to the control instruction;
receiving a drive-by-wire failure control instruction, and controlling a corresponding drive-by-wire object according to the drive-by-wire failure control instruction;
and acquiring vehicle state information corresponding to each line control object in real time, and sending the vehicle state information to the test end in real time, wherein the vehicle state information is used for the test end to obtain a test result according to the line control failure control instruction.
6. The method of claim 5, further comprising:
and displaying the vehicle state information corresponding to each drive-by-wire object in real time.
7. The method of claim 5 or 6, further comprising:
receiving input line control configuration information, and configuring a line control object according to the line control configuration information; or
Adjusting configuration information of the line-control object based on the displayed vehicle state information.
8. A chassis drive-by-wire test device is characterized by being applied to a test end, and the device comprises:
the first sending module is used for executing a test case and sending a control instruction to a chassis virtual system according to the test case, wherein the control instruction is used for indicating the chassis virtual system to control a line control object according to the control instruction;
the receiving module is used for receiving the vehicle state information returned by the chassis virtual system in real time;
the second sending module is used for sending the wire control failure control instruction according to the test case;
and the test result acquisition module is used for acquiring a test result according to the vehicle state information and the drive-by-wire failure control instruction.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 4 or 5 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4 or 5 to 7.
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| CN202110368806.6A CN113282069A (en) | 2021-04-06 | 2021-04-06 | Chassis line control test method and device, computer equipment and storage medium |
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| CN202110368806.6A CN113282069A (en) | 2021-04-06 | 2021-04-06 | Chassis line control test method and device, computer equipment and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113625694A (en) * | 2021-08-30 | 2021-11-09 | 一汽解放汽车有限公司 | Chassis line control device and chassis line control test system |
| CN113740077A (en) * | 2021-09-13 | 2021-12-03 | 广州文远知行科技有限公司 | Vehicle chassis testing method, device, equipment and storage medium |
| CN114063599A (en) * | 2021-10-28 | 2022-02-18 | 文远苏行(江苏)科技有限公司 | Drive-by-wire test method, system, equipment and storage medium for simulated vehicle |
| CN114513384A (en) * | 2022-01-22 | 2022-05-17 | 深圳欣锐科技股份有限公司 | Device control method, device, terminal and computer readable storage medium |
| CN114513384B (en) * | 2022-01-22 | 2024-05-17 | 深圳欣锐科技股份有限公司 | Equipment control method, device, terminal and computer readable storage medium |
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2021
- 2021-04-06 CN CN202110368806.6A patent/CN113282069A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113625694A (en) * | 2021-08-30 | 2021-11-09 | 一汽解放汽车有限公司 | Chassis line control device and chassis line control test system |
| CN113740077A (en) * | 2021-09-13 | 2021-12-03 | 广州文远知行科技有限公司 | Vehicle chassis testing method, device, equipment and storage medium |
| CN114063599A (en) * | 2021-10-28 | 2022-02-18 | 文远苏行(江苏)科技有限公司 | Drive-by-wire test method, system, equipment and storage medium for simulated vehicle |
| CN114513384A (en) * | 2022-01-22 | 2022-05-17 | 深圳欣锐科技股份有限公司 | Device control method, device, terminal and computer readable storage medium |
| CN114513384B (en) * | 2022-01-22 | 2024-05-17 | 深圳欣锐科技股份有限公司 | Equipment control method, device, terminal and computer readable storage medium |
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