CN113778900B - V2X-based automatic driving test field information acquisition and multi-vehicle test method and system - Google Patents
V2X-based automatic driving test field information acquisition and multi-vehicle test method and system Download PDFInfo
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Abstract
The invention provides an automatic driving test field information acquisition and multi-vehicle test method and system based on V2X, comprising the following steps: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the road test equipment in the test field; the cloud control center judges whether the conditions of the test field meet the test application requirements of the current test vehicle based on the test environment information acquired by the road test equipment, and issues a test identifier to the test vehicle meeting the test application requirements, and notifies the test vehicle to enter the test field to start testing; after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment by a data storage module; the road test equipment sequentially tests the test identifications of the test vehicles to obtain the test vehicle information stored in the data storage module for testing the test units. The invention improves the utilization rate of the test units in the test field and the overall test efficiency.
Description
Technical Field
The invention relates to the field of automatic driving test, in particular to an automatic driving test field information acquisition and multi-vehicle test method and system based on V2X.
Background
With the gradual development of technology, autopilot is also receiving more and more attention. Compared with the traditional automobile, the automatic driving technology can solve the serious problems of traffic safety, traffic jam and the like in a technological and intelligent mode. At present, gradually perfected V2X communication technology can effectively reduce the perception difficulty of an automatic driving automobile, improve driving safety and realize more intelligent automatic driving through information interaction sharing.
The autopilot test is the key to formally driving the vehicle before it goes on the road. The automatic driving test field in China is in a perfect construction stage, the test efficiency of the test field is low, most of test units in the test field are in an idle state, the process of automatic driving test is slowed down, and the development of automatic driving technology is hindered.
Patent document CN109993849a (application number: 201910223012.3) discloses a simulation method, device and system for reproduction of an autopilot test scene, the simulation method comprising: constructing a scene reproduction model of a scene to be reproduced; according to the scene reproduction model, controlling the automatic driving vehicle and the unmanned test vehicle to realize scene reproduction in the test field; and acquiring data information of the automatic driving vehicle and the unmanned test vehicle in the scene reproduction process in real time. The automatic driving test scene reproduction simulation system comprises a control center, a test field and a controlled vehicle positioned in the test field, wherein the controlled vehicle comprises an automatic driving vehicle and an unmanned test vehicle, and an automatic driving test scene reproduction simulation device is operated on a server of the control center and comprises a scene model construction module, a scene reproduction realization module and a result acquisition module.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic driving test field information acquisition and multi-vehicle test method and system based on V2X.
The invention provides an automatic driving test field information acquisition and multi-vehicle test method based on V2X, which comprises the following steps:
step M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the road test equipment in the test field;
step M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the test vehicles based on the test environment information acquired by the road test equipment, and issues test identifiers to the test vehicles meeting the test application requirements, and notifies the test vehicles to enter the test field to start testing;
step M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment by a data storage module;
step M4: the road test equipment sequentially acquires the test vehicle information stored locally according to the test identifier of the test vehicle, and informs the test vehicle in the waiting queue to test the test unit.
Preferably, the test request information in the step M1 includes basic parameters of the vehicle body and test preset requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
Preferably, the test environment information in the step M2 includes weather information, surrounding road condition information, and V2X communication signal strength information.
Preferably, the step M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the road test equipment, and analyzes and judges whether the test field conditions meet the test application requirements according to the fused test environment information; when the test field conditions do not meet the test application requirements, the cloud control center notifies the test environment to debug, and after the debugging is completed, information is sent to the cloud control platform, and the cloud control center carries out information collection and judgment again; when the conditions of the test field meet the requirements of the test application, placing a test mark on the body of the test vehicle, and informing the test vehicle to enter the test field to start the test.
Preferably, the test identifier in the step M2 includes a two-dimensional code, a bar code or a test license plate including test vehicle number information.
Preferably, the test vehicle information in the step M3 includes current test vehicle oil/electricity, in-vehicle tester information, in-vehicle sensing device status information, in-vehicle V2X communication module status information, in-vehicle memory capacity information, vehicle safety system status information, and test vehicle number.
Preferably, the step M4 includes:
step M4.1: the road test equipment scans the test identifier of the first vehicle in the waiting queue, acquires the test vehicle number, and matches the test vehicle information stored in the data storage module according to the test vehicle number;
step M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to a first vehicle in a waiting queue by the drive test equipment, informing the vehicle to test a test unit, enabling the first vehicle to enter a next test unit after the test is completed, and starting to test subsequent vehicles in the waiting queue by the drive test equipment;
step M4.3: after the test vehicle completes the test of all the test units, a test completion signal is sent to the cloud control center.
According to the invention, the V2X-based automatic driving test field information acquisition and multi-vehicle test system comprises:
the test vehicle, the drive test equipment and the cloud control center are provided with the V2X communication module;
the road test equipment comprises a perception module, a perception information processing module, a data storage module and a V2X communication module of the road test equipment;
the V2X communication module is used for sending test request information, test vehicle information and test signals of the drive test equipment to the cloud control center and the drive test equipment;
the sensing module is used for acquiring test field information and acquiring a test identifier of a test vehicle;
the perception information processing module is used for identifying the test identifier of the test vehicle and matching the test vehicle information stored in the data storage module;
the data storage module is used for storing the test vehicle information of the test vehicle;
the V2X communication module of the drive test equipment is used for receiving test request information of a test vehicle and sending a test signal to the test vehicle;
module M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the road test equipment in the test field;
module M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the current test vehicle based on the test environment information acquired by the road test equipment, and issues a test identifier to the test vehicle meeting the test application requirements, and notifies the test vehicle to enter the test field to start testing;
module M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment by a data storage module;
module M4: the road test equipment sequentially tests the test identifications of the test vehicles to obtain the test vehicle information stored in the data storage module for testing the test units.
Preferably, the test request information in the module M1 includes basic parameters of the vehicle body and test preset requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements;
the test environment information in the module M2 comprises weather information, surrounding road condition information and V2X communication signal intensity information;
the module M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the road test equipment, and analyzes and judges whether the test field conditions meet the test application requirements according to the fused test environment information; when the test field conditions do not meet the test application requirements, the cloud control center notifies the test environment to debug, and after the debugging is completed, information is sent to the cloud control platform, and the cloud control center carries out information collection and judgment again; when the conditions of the test field meet the requirements of the test application, placing a test mark on the body of the test vehicle, and informing the test vehicle to enter the test field to start the test;
the test mark in the module M2 comprises a two-dimensional code, a bar code or a test license plate containing test vehicle number information.
Preferably, the test vehicle information in the module M3 includes current test vehicle oil/electricity, in-vehicle tester information, vehicle-mounted sensing equipment status information, vehicle-mounted V2X communication module status information, vehicle-mounted memory capacity information, vehicle safety system status information and test vehicle numbers;
the module M4 includes:
module M4.1: the road test equipment scans the test identifier of the first vehicle in the waiting queue, acquires the test vehicle number, and matches the test vehicle information stored in the data storage module according to the test vehicle number;
module M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to the test vehicle, notifying the vehicle to test the test unit, enabling the first vehicle to enter the next test unit after the test is completed, and enabling the road test equipment to start to test the subsequent vehicles in the waiting queue;
module M4.3: after the test vehicle completes the test of all the test units, a test completion signal is sent to the cloud control center.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the collection of the test request information of the test vehicle and the collection of the test environment information of the test field based on the V2X communication technology, meets different test requirements of the test vehicle through the debugging treatment of the test field, and has reference value for the evaluation of the test by the collected test environment information.
2. The invention completes the bidirectional binding between the test vehicle and the road test equipment by introducing the test mark based on the V2X communication technology, and realizes a multi-vehicle test mode, thereby improving the utilization rate of the test unit in the test field and the overall test efficiency of the test field.
3. According to the invention, the information acquisition and the multi-vehicle test of the automatic driving test field are completed through the cooperation of the test vehicle, the drive test equipment and the cloud control center, so that the manual operation is reduced to a certain extent, the time is saved, and the intellectualization of the automatic driving test field is realized.
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Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of an automated driving test field information acquisition and multi-vehicle test mode and system overall structure provided by the invention;
FIG. 2 is a flow chart of information collection before a test vehicle enters a test field;
FIG. 3 is a schematic diagram of a test identifier for testing a side portion of a vehicle body provided by the present invention;
FIG. 4 is a flow chart of a test unit multi-vehicle test provided by the invention;
FIG. 5 is a schematic diagram of a test unit according to the present invention;
fig. 6 is a schematic diagram of a road test device module provided by the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1
The invention provides an automatic driving test field information acquisition and multi-vehicle test method based on V2X, which comprises the following steps:
step M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the road test equipment in the test field;
step M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the test vehicles based on the test environment information acquired by the road test equipment, and issues test identifiers to the test vehicles meeting the test application requirements, and notifies the test vehicles to enter the test field to start testing;
step M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and locally storing the test vehicle information by the road test equipment;
step M4: the road test equipment sequentially acquires the test vehicle information stored locally according to the test identifier of the test vehicle, and informs the test vehicle in the waiting queue to test the test unit.
Specifically, the test request information in the step M1 includes basic parameters of the vehicle body and a test preset requirement;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
Specifically, the test environment information in the step M2 includes weather information, surrounding road condition information, and V2X communication signal strength information.
Specifically, the step M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the road test equipment, and analyzes and judges whether the test field conditions meet the test application requirements according to the fused test environment information; when the test field conditions do not meet the test application requirements, the cloud control center notifies the test environment to debug, and after the debugging is completed, information is sent to the cloud control platform, and the cloud control center carries out information collection and judgment again; when the conditions of the test field meet the requirements of the test application, a test mark is placed on the side part of the vehicle body of the test vehicle, and the test vehicle is informed to enter the test field to start the test.
Specifically, the test identifier in the step M2 includes a two-dimensional code, a bar code or a test license plate including test vehicle number information.
Specifically, the test vehicle information in the step M3 includes current test vehicle oil/electricity, in-vehicle tester information, vehicle-mounted sensing device status information, vehicle-mounted V2X communication module status information, vehicle-mounted memory capacity information, vehicle safety system status information, and test vehicle numbers.
Specifically, the step M4 includes:
step M4.1: the road test equipment scans the test identifier of the first vehicle in the waiting queue, acquires the test vehicle number, and matches the test vehicle information stored in the data storage module according to the test vehicle number;
step M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to a first vehicle in a waiting queue by the drive test equipment, informing the vehicle to test a test unit, enabling the first vehicle to enter a next test unit after the test is completed, and starting to test subsequent vehicles in the waiting queue by the drive test equipment;
step M4.3: after the test vehicle completes the test of all the test units, a test completion signal is sent to the cloud control center.
According to the invention, the V2X-based automatic driving test field information acquisition and multi-vehicle test system comprises:
the test vehicle, the drive test equipment and the cloud control center are provided with the V2X communication module;
the road test equipment comprises a perception module, a perception information processing module, a data storage module and a V2X communication module of the road test equipment;
the V2X communication module is used for sending test request information, test vehicle information and test signals of the drive test equipment to the cloud control center and the drive test equipment;
the sensing module is used for acquiring test field information and acquiring a test identifier of a test vehicle;
the perception information processing module is used for identifying the test identifier of the test vehicle and matching the test vehicle information stored in the data storage module;
the data storage module is used for storing the test vehicle information of the test vehicle;
the V2X communication module of the drive test equipment is used for receiving test request information of a test vehicle and sending a test signal to the test vehicle;
module M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the road test equipment in the test field;
module M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the test vehicles based on the test environment information acquired by the road test equipment, and issues test identifiers to the test vehicles meeting the test application requirements, and notifies the test vehicles to enter the test field to start testing;
module M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and locally storing the test vehicle information by the road test equipment;
module M4: the road test equipment sequentially acquires the test vehicle information stored locally according to the test identifier of the test vehicle, and informs the test vehicle in the waiting queue to test the test unit.
Specifically, the test request information in the module M1 includes basic parameters of the vehicle body and test preset requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
Specifically, the test environment information in the module M2 includes weather information, surrounding road condition information, and V2X communication signal strength information.
Specifically, the module M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the road test equipment, and analyzes and judges whether the test field conditions meet the test application requirements according to the fused test environment information; when the test field conditions do not meet the test application requirements, the cloud control center notifies the test environment to debug, and after the debugging is completed, information is sent to the cloud control platform, and the cloud control center carries out information collection and judgment again; when the conditions of the test field meet the requirements of the test application, a test mark is placed on the side part of the vehicle body of the test vehicle, and the test vehicle is informed to enter the test field to start the test.
Specifically, the test identifier in the module M2 includes a two-dimensional code, a bar code or a test license plate including test vehicle number information.
Specifically, the test vehicle information in the module M3 includes the current test vehicle oil/electricity, in-vehicle tester information, in-vehicle sensing device status information, in-vehicle V2X communication module status information, in-vehicle memory capacity information, vehicle safety system status information, and test vehicle number.
Specifically, the module M4 includes:
module M4.1: the road test equipment scans the test identifier of the first vehicle in the waiting queue, acquires the test vehicle number, and matches the test vehicle information stored in the data storage module according to the test vehicle number;
module M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to a first vehicle in a waiting queue by the drive test equipment, informing the vehicle to test a test unit, enabling the first vehicle to enter a next test unit after the test is completed, and starting to test subsequent vehicles in the waiting queue by the drive test equipment;
module M4.3: after the test vehicle completes the test of all the test units, a test completion signal is sent to the cloud control center.
Example 2
Example 2 is a modification of example 1
As shown in fig. 1, the embodiment of the invention provides an automatic driving test field information acquisition and multi-vehicle test mode based on V2X, which comprises the following steps:
after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the road test equipment in the test field;
the cloud control center judges whether the conditions of the test field meet the requirements of the test application based on the test environment information collected by the road test equipment, and issues a test identifier to the test vehicle meeting the requirements of the test application, and notifies the test vehicle to enter the test field to start testing;
after the test vehicle arrives at the test unit, sending test request information to the road test equipment through V2X communication and entering a waiting queue, and locally storing the test request information by the road test equipment;
the road test equipment sequentially notifies the test vehicles in the waiting queue to test the test units after checking the test identifiers of the test vehicles.
Specifically, the test request information sent to the cloud control center by the test vehicle comprises basic parameters of the vehicle body and test additional requirements.
In particular, the test additional requirements include a time requirement, a weather requirement, a road surface condition requirement, and a V2X communication signal strength requirement.
Specifically, the test environment information collected by the road test equipment comprises weather information, surrounding road condition information and V2X communication signal intensity.
As shown in fig. 2, the specific flow before the test vehicle enters the test field includes:
the test vehicle enters a parking area of a test field;
the test vehicle sends test request information to the cloud control platform through V2X communication;
the cloud control platform broadcasts and sends information acquisition signals to the road testing equipment in the testing field, and the road testing equipment starts to acquire information and sends all acquired information to the cloud control platform;
the cloud control center performs fusion processing on the test environment information collected by all the road test equipment, analyzes and judges whether the test field conditions meet the test application requirements;
if the conditions of the test field do not meet the requirements of the test application, the personnel of the test field conduct debugging, and send information to inform the cloud control platform after the personnel of the test field complete debugging;
if the conditions of the test field meet the requirements of the test application, the staff of the test field issues a test identifier to the test vehicle, and the test vehicle enters the test field to start testing.
As shown in fig. 3, the test mark issued to the test vehicle by the test field staff should be placed on the side of the body of the test vehicle, so as to facilitate the inspection and recognition of the road test equipment.
Specifically, the test identifier at least comprises one of a two-dimensional code containing test vehicle information, a bar code or a test license plate.
Referring to fig. 4 and 5, a specific flow of testing unit multi-vehicle testing includes:
the test vehicle enters a test unit;
the vehicle sends test request information to the road test equipment through the V2X communication module and enters a test waiting queue;
the road test equipment scans and identifies the test identifier of the first vehicle in the waiting queue and matches the test request information stored locally;
the drive test equipment sends a test signal to a first vehicle in the waiting queue to inform the vehicle to test the test unit;
after the test is completed, the first vehicle enters a next test unit, and the road test equipment starts to test the subsequent vehicles in the waiting queue;
after the test vehicle completes the test of all the test units, a test completion signal is sent to the cloud control center.
Specifically, the test request information sent by the test vehicle to the drive test equipment includes: the method comprises the steps of testing vehicle oil/electric quantity, in-vehicle tester information, vehicle-mounted sensing equipment state information, vehicle-mounted V2X communication module state information, vehicle-mounted memory capacity information and vehicle safety system state information at present.
The embodiment of the invention also provides an automatic driving test field information acquisition and multi-vehicle test system based on V2X, which comprises a test vehicle provided with a V2X communication module, drive test equipment and a cloud control center;
the V2X communication module of the test vehicle is used for sending test request information to the cloud control center and the road test equipment and receiving test signals of the road test equipment;
the cloud control platform is used for sending information acquisition signals to the road test equipment and notifying test field staff of performing test environment debugging processing.
As shown in fig. 6, the road test device includes a sensing module, a sensing information processing module, a data storage module, and a V2X communication module;
the sensing module of the drive test equipment is used for collecting test field information and acquiring a test identifier of a test vehicle;
the perception information processing module of the drive test equipment is used for identifying a test identifier of a test vehicle and matching test request information stored locally;
the data storage module of the drive test equipment is used for storing test request information of a test vehicle;
the V2X communication module of the drive test equipment is used for receiving test request information of the test vehicle and sending a test signal to the test vehicle.
Those skilled in the art will appreciate that the systems, apparatus, and their respective modules provided herein may be implemented entirely by logic programming of method steps such that the systems, apparatus, and their respective modules are implemented as logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., in addition to the systems, apparatus, and their respective modules being implemented as pure computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (8)
1. The automatic driving test field information acquisition and multi-vehicle test method based on V2X is characterized by comprising the following steps of:
step M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the road test equipment in the test field;
step M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the test vehicles based on the test environment information acquired by the road test equipment, and issues test identifiers to the test vehicles meeting the test application requirements, and notifies the test vehicles to enter the test field to start testing;
step M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment by a data storage module;
step M4: the road test equipment sequentially acquires the test vehicle information stored locally according to the test identifier of the test vehicle, and informs the test vehicle in the waiting queue to test the test unit;
the step M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the road test equipment, and analyzes and judges whether the test field conditions meet the test application requirements according to the fused test environment information; when the test field conditions do not meet the test application requirements, the cloud control center notifies the test environment to debug, and after the debugging is completed, the cloud control center sends information to notify the cloud control center, and the cloud control center carries out information collection and judgment operation again; when the conditions of the test field meet the requirements of the test application, placing a test mark on the body of the test vehicle, and informing the test vehicle to enter the test field to start the test.
2. The V2X-based automatic driving test field information collection and multi-vehicle test method according to claim 1, wherein the test request information in the step M1 includes basic parameters of a vehicle body and test preset requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
3. The V2X-based automatic driving test field information collection and multi-vehicle test method according to claim 1, wherein the test environment information in the step M2 includes weather information, surrounding road condition information, and V2X communication signal strength information.
4. The V2X-based automatic driving test field information collection and multi-vehicle test method according to claim 1, wherein the test mark in the step M2 comprises a two-dimensional code, a bar code or a test license plate containing test vehicle number information.
5. The V2X-based automatic driving test field information collection and multi-vehicle test method according to claim 1, wherein the test vehicle information in the step M3 includes a current test vehicle oil/electricity amount, in-vehicle tester information, vehicle-mounted sensing device status information, vehicle-mounted V2X communication module status information, vehicle-mounted memory capacity information, vehicle safety system status information, and test vehicle number.
6. The V2X-based automatic driving test field information collection and multi-vehicle test method according to claim 1, wherein the step M4 comprises:
step M4.1: the road test equipment scans the test identifier of the first vehicle in the waiting queue, acquires the test vehicle number, and matches the test vehicle information stored in the data storage module according to the test vehicle number;
step M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to a first vehicle in a waiting queue by the drive test equipment, informing the vehicle to test a test unit, enabling the first vehicle to enter a next test unit after the test is completed, and starting to test subsequent vehicles in the waiting queue by the drive test equipment;
step M4.3: after the test vehicle completes the test of all the test units, a test completion signal is sent to the cloud control center.
7. V2X-based automatic driving test field information acquisition and multi-vehicle test system is characterized by comprising:
the test vehicle, the drive test equipment and the cloud control center are provided with the V2X communication module;
the road test equipment comprises a perception module, a perception information processing module, a data storage module and a V2X communication module of the road test equipment;
the V2X communication module of the test vehicle is used for sending test request information, test vehicle information and test signals of the drive test equipment to the cloud control center and the drive test equipment;
the sensing module is used for acquiring test field information and acquiring a test identifier of a test vehicle;
the perception information processing module is used for identifying the test identifier of the test vehicle and matching the test vehicle information stored in the data storage module;
the data storage module is used for storing the test vehicle information of the test vehicle;
the V2X communication module of the drive test equipment is used for receiving test request information of a test vehicle and sending a test signal to the test vehicle;
module M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the road test equipment in the test field;
module M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the current test vehicle based on the test environment information acquired by the road test equipment, and issues a test identifier to the test vehicle meeting the test application requirements, and notifies the test vehicle to enter the test field to start testing;
module M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment by a data storage module;
module M4: the road test equipment sequentially tests the test identifications of the test vehicles to obtain the test vehicle information stored in the data storage module for testing the test units;
the test request information in the module M1 comprises basic parameters of a vehicle body and test preset requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements;
the test environment information in the module M2 comprises weather information, surrounding road condition information and V2X communication signal intensity information;
the module M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the road test equipment, and analyzes and judges whether the test field conditions meet the test application requirements according to the fused test environment information; when the test field conditions do not meet the test application requirements, the cloud control center notifies the test environment to debug, and after the debugging is completed, information is sent to the cloud control platform, and the cloud control center carries out information collection and judgment again; when the conditions of the test field meet the requirements of the test application, placing a test mark on the body of the test vehicle, and informing the test vehicle to enter the test field to start the test;
the test mark in the module M2 comprises a two-dimensional code, a bar code or a test license plate containing test vehicle number information.
8. The V2X-based automated driving test field information collection and multi-vehicle test system of claim 7, wherein the test vehicle information in the module M3 comprises current test vehicle oil/electricity, in-vehicle tester information, vehicle sensing device status information, vehicle V2X communication module status information, vehicle memory capacity information, vehicle safety system status information, and test vehicle number;
the module M4 includes:
module M4.1: the road test equipment scans the test identifier of the first vehicle in the waiting queue, acquires the test vehicle number, and matches the test vehicle information stored in the data storage module according to the test vehicle number;
module M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to the test vehicle, notifying the vehicle to test the test unit, enabling the first vehicle to enter the next test unit after the test is completed, and enabling the road test equipment to start to test the subsequent vehicles in the waiting queue;
module M4.3: after the test vehicle completes the test of all the test units, a test completion signal is sent to the cloud control center.
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