CN113792428A - Vehicle testing method and device under virtual scene and electronic equipment - Google Patents
Vehicle testing method and device under virtual scene and electronic equipment Download PDFInfo
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Abstract
The disclosure relates to a method and a device for testing a vehicle in a virtual scene and electronic equipment, and belongs to the technical field of computers. The vehicle testing method under the virtual scene comprises the following steps: generating a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene, wherein the virtual test scene comprises a first virtual vehicle obtained by simulating the actual measurement vehicle; receiving vehicle data sent by an actually measured vehicle; and testing the first virtual vehicle in the virtual test scene through the test case according to the vehicle data to obtain a test result. The scheme provided by the disclosure realizes the generation of the virtual test scene of the actual measurement vehicle, can generate the test case of the virtual test scene according to the actual requirement, and realizes the real-time test of the actual measurement vehicle.
Description
Technical Field
The disclosure belongs to the technical field of computers, and particularly relates to a method and a device for testing a vehicle in a virtual scene and electronic equipment.
Background
In recent years, in order to solve the problem of testing actual roads of intelligent networking vehicles, a closed intelligent networking test field is provided for carrying out relevant function certification tests, but the actual vehicle tests have the defects of high cost, high labor intensity, high field changing cost and the like, and the trouble and labor intensity in changing different scenes. The problems that safety is difficult to guarantee under the condition of participation of people, random factors are multiple, repeatability is low and the like are solved, and the test requirement of the intelligent networked vehicle cannot be met by adopting a simple field road test.
Disclosure of Invention
The embodiment of the disclosure aims to provide a method and a device for testing a vehicle in a virtual scene and an electronic device, which can solve the problem that the actual testing requirement of an intelligent networked vehicle cannot be met.
In a first aspect, an embodiment of the present disclosure provides a method for testing a vehicle in a virtual scene, where the method includes:
generating a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene, wherein the virtual test scene comprises a first virtual vehicle obtained by simulating the actual measurement vehicle;
receiving vehicle data sent by an actually measured vehicle;
and testing the first virtual vehicle in the virtual test scene through the test case according to the vehicle data to obtain a test result.
Optionally, generating a virtual test scenario of the measured vehicle in the measured vehicle test scenario includes:
generating a map according to the mapping data;
and generating a virtual test scene of the actual measurement vehicle in the actual measurement vehicle test scene according to the map.
Optionally, receiving vehicle data sent by the measured vehicle includes:
and receiving vehicle data sent by the actually measured vehicle through a controller area network CAN interface and/or an Ethernet interface, wherein the vehicle data comprises navigation positioning information and/or vehicle state information of the actually measured vehicle in the current running state.
Optionally, the step of testing the first virtual vehicle in the virtual test scenario through the test case according to the vehicle data to obtain a test result includes:
generating a test case of a virtual test scene according to the vehicle data, wherein the test case comprises: the first virtual vehicle runs on a virtual road in a virtual test scene at a first speed according to the vehicle data;
and testing the virtual test scene according to the test case to obtain a test result.
Optionally, the virtual test scenario includes at least one of:
a safety auxiliary virtual test scene;
road efficiency class virtual test scenario.
Optionally, when the virtual test scenario includes a safety auxiliary virtual test scenario, the virtual test scenario is tested according to the test case to obtain a test result, including:
receiving an interactive data message sent by virtual V2X equipment in a virtual test scene;
sending the interactive data message to an OBU (on board unit) of the measured vehicle;
receiving an early warning result fed back by an OBU (on board unit) of the measured vehicle according to the interactive data message;
and obtaining a test result according to the early warning result.
Optionally, sending the interactive data packet to a measured vehicle-mounted unit OBU of the measured vehicle includes:
and sending the interactive data message to a preset interface through an auxiliary Road Side Unit (RSU) or an auxiliary vehicle-mounted unit (OBU), and sending the interactive data message to a tested OBU of the tested vehicle through the preset interface.
In a second aspect, an embodiment of the present disclosure provides a device for testing a vehicle in a virtual scene, where the device includes:
the system comprises a scene generation module, a simulation module and a control module, wherein the scene generation module is used for generating a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene, and the virtual test scene comprises a first virtual vehicle obtained by simulating the actual measurement vehicle;
the receiving module is used for receiving vehicle data sent by the actual measurement vehicle;
and the processing module is used for testing the first virtual vehicle in the virtual test scene through the test case according to the vehicle data to obtain a test result.
Optionally, the scene generation module includes:
the first generation submodule is used for generating a map according to the mapping data;
and the second generation submodule is used for generating a virtual test scene of the actual measurement vehicle in the actual measurement vehicle test scene according to the map.
Optionally, the receiving module is specifically configured to receive vehicle data sent by the measured vehicle through the controller area network CAN interface and/or the ethernet interface, where the vehicle data includes navigation positioning information and/or vehicle state information of the measured vehicle in the current driving state.
Optionally, the processing module comprises:
the first processing submodule is used for generating a test case of a virtual test scene according to the vehicle data, and the test case comprises: the first virtual vehicle runs on a virtual road in the virtual test scene at a first speed according to the vehicle data;
and the second processing submodule is used for testing the virtual test scene according to the test case to obtain a test result.
Optionally, the virtual test scenario includes at least one of:
a safety auxiliary virtual test scene;
road efficiency class virtual test scenario.
Optionally, when the virtual test scenario includes a safety assistant virtual test scenario, the second processing sub-module includes:
a first receiving unit, configured to receive an interactive data message sent by a virtual V2X device in the virtual test scenario;
the first sending unit is used for sending the interactive data message to an OBU (on-board unit) to be tested of the actually-measured vehicle;
the second receiving unit is used for receiving an early warning result fed back by an OBU (on board unit) of the measured vehicle according to the interactive data message;
and the obtaining unit is used for obtaining a test result according to the early warning result.
Optionally, the first sending unit is specifically configured to send the interactive data packet to a preset interface through the auxiliary road side unit RSU or the auxiliary on-board unit OBU, and send the interactive data packet to the measured on-board unit OBU of the measured vehicle through the preset interface.
In a third aspect, the disclosed embodiments provide an electronic device comprising a processor, a memory, and a program or instructions stored on the memory and executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method according to any one of the first aspect.
In a fourth aspect, the disclosed embodiments provide a readable storage medium on which a program or instructions are stored, which when executed by a processor, implement the steps of the method according to any one of the first aspect.
In the embodiment of the disclosure, a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene is generated, the virtual test scene comprises a first virtual vehicle obtained by simulating the actual measurement vehicle, vehicle data sent by the actual measurement vehicle is received, and the first virtual vehicle in the virtual test scene is tested through a test case according to the vehicle data to obtain a test result; the test scene of the actual measurement vehicle is restored on the simulation server, the generation of the virtual test scene based on the actual measurement vehicle is realized, the test case of the virtual test scene can be generated according to the actual requirement, the real-time test of the actual measurement vehicle is realized, and the actual test requirement of the intelligent internet vehicle is met.
Drawings
Fig. 1 is a schematic flowchart of a method for testing a vehicle in a virtual scene according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of structured mapping data generated when a virtual test scenario is generated from a map according to an embodiment of the present disclosure;
fig. 3 is a schematic test flow diagram of a collision warning virtual test scenario in an embodiment provided by the present disclosure;
FIG. 4 is a schematic diagram of a system architecture for communication connection between a measured vehicle and a simulation server according to an embodiment of the present disclosure;
FIG. 5 is a scene diagram of forward collision warning in a virtual test scenario according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of a green-wave vehicle speed guidance in a virtual test scenario provided by the present disclosure;
FIG. 7 is a schematic structural diagram of a vehicle testing device under a virtual scene provided by an embodiment of the disclosure;
fig. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure;
fig. 9 is a schematic diagram of a hardware structure of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
Technical solutions in the embodiments of the present disclosure will be clearly described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments derived by one of ordinary skill in the art from the embodiments disclosed herein are intended to be within the scope of the present disclosure.
The terms first, second and the like in the description and in the claims of the present disclosure are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the disclosure may be practiced other than those illustrated or described herein, and that the objects identified as "first," "second," etc. are generally a class of objects and do not limit the number of objects, e.g., a first object may be one or more. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The following describes in detail a method, an apparatus, and an electronic device for testing a vehicle in a virtual scene, which are provided by the embodiments of the present disclosure, with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present disclosure provides a method for testing a vehicle in a virtual scene, including:
step 1011, surveying and mapping the road in the actual measurement vehicle test scene to obtain unstructured surveying and mapping data; the unstructured mapping data includes: at least one of oblique scanning point cloud data, a panoramic image, a surveying and mapping vector and a satellite image;
step 1012, performing structuring processing on the unstructured mapping data to generate structured mapping data; for example, unstructured mapping data is imported into mapping software; extracting road edge information in the unstructured mapping data through mapping software; reconstructing a lane line by the road edge information through the road width to generate a road in a virtual test scene corresponding to the road in the actual measurement vehicle test scene; marking static traffic elements in the road in the virtual test scene through an editing tool, wherein the static traffic elements comprise at least one of road surface marks and traffic signboards; generating structured mapping data according to the road and static traffic elements in the virtual test scene;
step 1013, generating a map according to the structured mapping data; in specific implementation, a high-precision map based on an Opendrive standard format can be generated according to the structured mapping data. The OpenDrive standard format is a general standard for describing roads and road networks based on extensible markup language (XML), and the file suffix is in an xodr format; the structured mapping data facilitates editing and modifying of the virtual test scenario by the simulation software as compared to the unstructured mapping data.
Furthermore, the map can be imported into the simulation software of the simulation server, and a virtual test scene can be constructed in the simulation software based on the map, and the virtual test scene provides an accurate digital virtual test environment for the test of the vehicle. It should be noted that, in the virtual test scenario, there is a first virtual vehicle obtained by simulating the actual vehicle, and the virtual test scenario is restored according to the corresponding ratio between the actual vehicle and the actual vehicle test scenario, where the corresponding ratio is preferably 1: 1.
as shown in fig. 2, a specific embodiment of generating a virtual test scenario of a measured vehicle in a measured vehicle test scenario includes: surveying and mapping the road in the actual measurement vehicle test scene to obtain unstructured surveying and mapping data comprising vector data, a panoramic image, oblique scanning point cloud data and a satellite image; the unstructured mapping data are imported into professional high-precision mapping software for structured processing, and structured mapping data can be obtained; generating a high-precision map from the structured mapping data; importing the high-precision map into simulation software, and constructing a virtual test scene of the actual vehicle; the virtual test scene comprises at least one of an urban road scene, a mountain road scene, an expressway scene, an elevated road scene, a tunnel scene, a bridge scene, a ramp scene, a continuous curve scene and a parking lot scene which are the same as those in the actual test vehicle scene.
And 103, testing the first virtual vehicle in the virtual test scene through the test case according to the vehicle data to obtain a test result. Here, the virtual test scenario may include at least one virtual test scenario, and one virtual test scenario may correspond to at least one test case, where the test case includes a step, a condition, and/or a flow for implementing a simulation test of the measured vehicle in the virtual test scenario.
The test method of the vehicle under the virtual scene in the embodiment can be applied to a simulation server, and simulation software is installed or operated on the simulation server; according to the steps, the test scene of the actual measurement vehicle is restored on the simulation server, the generation of the virtual test scene based on the actual measurement vehicle is realized, the test case of the virtual test scene can be generated according to the actual requirement, the real-time test of the actual measurement vehicle is realized, and the actual test requirement of the intelligent internet vehicle is met.
It should be noted that, in the embodiment of the present disclosure, the simulation server is a vehicle-scale level server or an industrial personal computer, the simulation software on the simulation server includes a software testing module related to a V2X (vehicle-to-outside information exchange) real vehicle test, performs information interaction with a V2X channel simulation device and a vehicle positioning and motion state, where the V2X channel simulation device may include: road Side unit RSU (road Side unit) and/or auxiliary on Board unit OBU (on Board unit).
In an optional embodiment of the present disclosure, the virtual test scenario includes at least one of the following:
a safety auxiliary virtual test scene; the safety auxiliary type case scene preferably comprises at least one of forward collision early warning, intersection collision early warning, left turn auxiliary early warning, blind zone warning, lane change auxiliary, reverse overtaking early warning, emergency braking early warning, abnormal vehicle reminding early warning, vehicle out-of-control early warning, road danger condition prompting early warning, speed limit early warning and red light running early warning;
a road efficiency type virtual test scene; the road efficiency class use case scene comprises at least one of green wave vehicle speed guide, in-vehicle signs, road congestion ahead and emergency vehicle reminding.
In this embodiment, optionally, the test case includes a test case of a safety auxiliary virtual test scenario, and may also include a test case of a road efficiency virtual test scenario; the test case can be generated according to the actual requirements of a user using simulation software, specific limitations are not made in the disclosure, the test of an actual-measured vehicle on a single-vehicle type, a multi-vehicle type, a pedestrian type and more complex road conditions can be realized, the simulation software can cover various virtual test scenes, and various complex virtual test scenes under a natural driving environment can also be performed.
In an optional embodiment of the present disclosure, the step 103 may include:
step 1031, generating a test case of the virtual test scene according to the vehicle data, wherein the test case comprises: the first virtual vehicle runs on a virtual road in the virtual test scene at a first speed according to the vehicle data; here, the test case may be generated according to a specific virtual test scenario;
and 1032, testing the first virtual vehicle in the virtual test scene according to the test case to obtain a test result.
The implementation process of steps 1031 and 1032 is described below with a security assistance class virtual test scenario:
when the safety auxiliary virtual test scene is a forward collision early warning virtual test scene, the test case comprises the following steps: the first virtual vehicle travels on a virtual road in the virtual test scenario at a first speed in accordance with the vehicle data, and at least one second virtual vehicle in communication with the first virtual vehicle via the virtual V2X device travels on the virtual road in the virtual test scenario at a second speed, wherein the first speed is greater than the second speed.
In step 1031, when the safety auxiliary virtual test scenario is a forward collision early warning virtual test scenario, generating a test case of the collision early warning virtual test scenario, and in the forward collision early warning virtual test scenario, generating at least one second virtual vehicle communicating with the first virtual vehicle through a virtual V2X device, where the second virtual vehicle runs on a virtual road in the collision early warning virtual test scenario, the first virtual vehicle and the second virtual vehicle run relatively in the same virtual road or an adjacent virtual road in the same direction, and the first speed of the first virtual vehicle is greater than the second speed of the second virtual vehicle, so as to ensure that the first virtual vehicle and the second virtual vehicle collide after a certain time, thereby giving collision early warning.
The step 1032 may include:
step 10321, receiving an interactive data message sent by a virtual V2X device in a virtual test scenario; optionally, when the virtual test scenario is a forward collision warning virtual test scenario, the interaction data message is a vehicle-to-outside information exchange V2X data message in which the second virtual vehicle interacts with the first virtual vehicle through the virtual V2X device; the interactive data message may include: at least one of the traveling time information, the longitude and latitude information, the altitude information, the direction angle of the vehicle head, the size of the vehicle body, the traveling speed of the second virtual vehicle, the three-axis acceleration, the yaw rate, and the like of the second virtual vehicle;
step 10322, sending the interactive data message to an on-board unit (OBU) of the measured vehicle; when the step is realized, the interactive data message is sent to the actual measurement vehicle in the actual measurement vehicle test scene through the vehicle-to-outside information exchange V2X channel simulation equipment. The V2X channel simulation equipment comprises an auxiliary Road Side Unit (RSU) and/or an auxiliary OBU; the auxiliary RSU and the auxiliary OBU are simulation hardware devices, and the auxiliary RSU or the auxiliary OBU can be communicated with the measured vehicle-mounted unit OBU of the measured vehicle through the PC5 interface. The OBU is installed on an intelligently networked actual measurement vehicle and used for realizing the communication between the V2X channel simulation equipment and the actual measurement vehicle and the function detection of the cooperation of the vehicle path;
when the step is specifically implemented, the step may include: sending the interactive data message to a preset interface through an auxiliary Road Side Unit (RSU) or an auxiliary vehicle-mounted unit (OBU), and sending the interactive data message to a tested OBU of the tested vehicle through the preset interface;
step 10323, receiving an early warning result fed back by an on-board unit (OBU) of the measured vehicle according to the interactive data message; here, an early warning result fed back by an OBU of the measured vehicle according to the interactive data message can be received through the Ethernet module;
and 10324, obtaining a test result according to the early warning result.
In this embodiment, when the virtual test scenario is a collision early warning virtual test scenario, the second virtual vehicle sends the interactive data message interacted with the first virtual vehicle to the simulation server through the virtual V2X device, and the simulation server transmits the interactive data message to the tested on-board unit OBU of the actual measurement vehicle through the auxiliary RSU or the auxiliary OBU and the PC5 interface;
the interactive data message can change according to different test cases corresponding to the virtual test scene, the simulation server receives an early warning result fed back by a tested vehicle-mounted unit OBU of the actual measurement vehicle according to the interactive data message, and further the simulation server can also receive monitoring data collected by the tested vehicle-mounted unit OBU of the actual measurement vehicle; and the simulation server analyzes the early warning result to generate a test result.
In an optional embodiment of the present disclosure, after step 10324, the method may further include:
generating a test report according to the test result; and/or
The test results are stored.
Here, generating a test report according to the test result so as to facilitate the user to use the test report subsequently; and storing the test result so as to facilitate the conversation of the test scene, the data retrieval of the test result and the analysis of the test result.
The implementation process of the above embodiment is described below with reference to a specific implementation example, and as shown in fig. 3, an implementation example of a vehicle testing method in a virtual scene includes:
generating a corresponding test case in a virtual test scene;
issuing a test task according to the test case;
carrying out vehicle data synchronization on the virtual test scene and the test scene of the actual measurement vehicle;
testing the virtual test scene according to the test case to generate a test result;
and storing the test result, and playing back and analyzing the test scene based on the test result, or generating a test report according to the test result.
As shown in fig. 4, in an application scenario of the vehicle testing method in the virtual scenario, the actual measurement vehicle runs on a real road, the simulation server runs simulation software, the simulation server generates a virtual test scenario of the actual measurement vehicle through the simulation software, the virtual test scenario includes a first virtual vehicle corresponding to the actual measurement vehicle, a measured vehicle-mounted unit OBU of the actual measurement vehicle obtains vehicle data from a combined navigation device of RTK positioning and inertial navigation and a related sensor or controller, the vehicle data is sent to the simulation server through a controller area network CAN interface and/or an ethernet interface, and the first virtual vehicle is synchronized with the actual measurement vehicle;
the method comprises the steps that a test case of a virtual test scene can be generated according to the test requirements of an actual test scene, for example, the test case of a collision early warning virtual test scene, a first virtual vehicle and a second virtual vehicle run on the same virtual road or adjacent virtual roads in the same direction, and the first speed of the first virtual vehicle is greater than the second speed of the second virtual vehicle; the second virtual vehicle interacts data messages with the first virtual vehicle through the virtual OBU;
the simulation server sends the interactive data message (i.e. the V2X message) to the auxiliary road side unit RSU or the auxiliary OBU, and the auxiliary road side unit RSU device or the auxiliary OBU sends the interactive data message to the measured on-board unit OBU in the measured vehicle through the PC5 interface.
As shown in fig. 5, in the forward collision early warning virtual test scenario, the first virtual vehicle and the second virtual vehicle travel from the first direction to the second direction, for example, from west to east, under the virtual test scenario, the first virtual vehicle travels at a speed of V1, the second virtual vehicle travels at a speed of V2, the condition that the speed V1 of the first virtual vehicle is greater than the speed V2 of the second virtual vehicle under the collision early warning virtual test scenario is satisfied, the actual vehicle is manually driven by the driver, and travels on the road of the actual vehicle test scenario at a speed of V1;
for example, the speed of the first virtual vehicle is V1 ═ 34.7km/h, the maximum power speed is 1224r/min, and both the lateral and longitudinal directions are in manual mode; the second virtual vehicle speed is V2 ═ 3.6 km/h; the second virtual vehicle interacts with the first virtual vehicle through the virtual OBU to obtain an interaction data message, the interaction data message is transmitted to the simulation server, the simulation server transmits the interaction data message to a tested vehicle-mounted unit OBU of the actual-measured vehicle, and the format of the interaction data message is shown in the following table:
TABLE 1
Table 1 shows that the second virtual vehicle processes the interactive data packet through the simulation server, where the data in the interactive data packet is data related to the second virtual vehicle;
after the actual measurement vehicle receives the interactive data message, an early warning result is generated according to the interactive data message, a measured vehicle-mounted unit OBU of the actual measurement vehicle feeds the early warning result back to the simulation server through the Ethernet, the measured vehicle-mounted unit OBU of the actual measurement vehicle can also feed monitoring data of the actual measurement vehicle back to the simulation server, simulation software in the simulation server judges the early warning result according to preset parameters of a user, and specifically, time-to-collision time (TTC) and collision avoidance distance (collision avoidance range) can be obtained through calculation according to position information and speed information of the first virtual vehicle and the second virtual vehicle, so that a test result is obtained;
furthermore, according to the test result, a test report can be generated, and/or the interactive data message, the early warning result and the monitoring data of the actually measured vehicle in the test process can be stored according to the test result, so that the user can play back and analyze the test scene subsequently.
It should be noted that, the test report needs to record the time of occurrence of the collision warning signal, and the test result needs to satisfy that sufficient time exists for the first virtual vehicle to take corresponding measures after the warning signal is sent out, so as to avoid the first virtual vehicle colliding with the second virtual vehicle.
In an optional embodiment, when the virtual test scene of collision early warning is carried out between a plurality of vehicles, a plurality of second virtual vehicles can be arranged, the plurality of second virtual vehicles are also used as target vehicles to be collided with, run in front of the first virtual vehicle in the same virtual test scene as the first virtual vehicle, the vehicles run in the same direction on the same virtual road or adjacent virtual roads, the running speeds of the virtual vehicles are higher than that of the first virtual vehicle, the virtual OBUs are arranged on the virtual vehicles, for generating and transmitting interactive data messages with the first virtual vehicle, the emulation server can process the interactive data messages of a plurality of virtual vehicles, and sending the interactive data message to the actual measurement vehicle, receiving an early warning result fed back by the actual measurement vehicle, further obtaining a test result according to the early warning result, and generating a test report.
In other embodiments of the present disclosure, a test case of the road efficiency type virtual test scenario may be generated according to the vehicle data by referring to the steps of the method, and the test case may be executed, so as to implement a test on the road efficiency type virtual test scenario.
When the virtual test scene comprises a road efficiency virtual test scene, the test case comprises: the first virtual vehicle runs on a virtual road in the virtual test scene at a first speed according to the vehicle data;
in step 1032, according to the test case, testing the first virtual vehicle in the virtual test scenario to obtain a test result, including:
the method comprises the steps that a first virtual vehicle receives a road data message sent by virtual V2X equipment in a virtual test scene;
the first virtual vehicle judges whether a signal lamp exists at an intersection in front of the vehicle according to the road data message, and extracts the real-time state of the corresponding phase of the signal lamp;
the first virtual vehicle calculates the highest running speed and the lowest running speed required by the vehicle to pass through the intersection without stopping during the period of the current green light or the next green light according to the positioning of the vehicle and the first speed;
and obtaining a test result according to the highest running speed and the lowest running speed.
As shown in fig. 6, the Green Light Optimal Speed navigation (GLOSA) means that when a first virtual vehicle loaded with a virtual on-board unit OBU is driven to a signal lamp control intersection and receives road data and signal lamp real-time status data transmitted by an auxiliary road-side unit RSU, the GLOSA application gives a suggested vehicle Speed section to a driver so that the vehicle can pass through the signal intersection economically and comfortably (without waiting for parking). The economical efficiency and the comfort of the vehicle passing through the intersection are improved, and the efficiency of a traffic system is improved.
The green wave vehicle speed guide virtual test scenario is described in detail as follows:
a first virtual vehicle approaches the signal light control intersection from a distance;
the auxiliary RSU sends out local road data information, signal lamp data information and real-time state information which are obtained from an intersection signal machine;
the GLOSA application gives the real-time state of a signal lamp in front of the first virtual vehicle according to the information, and calculates a guiding vehicle speed interval passing through the intersection by combining the positioning and driving state information of the first virtual vehicle.
The data interaction requirements of the GLOSA are as follows:
TABLE 2
According to the embodiment of the disclosure, a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene is generated, wherein the virtual test scene comprises a first virtual vehicle obtained by simulating the actual measurement vehicle; receiving vehicle data sent by an actually measured vehicle; testing a first virtual vehicle in a virtual test scene through a test case according to the vehicle data to obtain a test result; the test scene of the actual measurement vehicle is restored on the simulation server, the generation of the virtual test scene based on the actual measurement vehicle is realized, the test case of the virtual test scene can be generated according to the actual requirement, the real-time test of the actual measurement vehicle is realized, and the actual test requirement of the intelligent internet vehicle is met.
It should be noted that, in the test method for a vehicle in a virtual scene provided in the embodiment of the present disclosure, the execution subject may be a test device for a vehicle in a virtual scene, or a control module in the test device for a vehicle in a virtual scene, where the test device or the control module is located in a simulation server. In the embodiment of the present disclosure, a method for executing a test of a vehicle in a virtual scene by using a test apparatus of a vehicle in a virtual scene is taken as an example, and the apparatus for testing a vehicle in a virtual scene provided in the embodiment of the present disclosure is described.
As shown in fig. 7, an embodiment of the present disclosure provides a testing apparatus for a vehicle in a virtual scene, where the apparatus 700 includes:
the scene generation module 701 is configured to generate a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene, where the virtual test scene includes a first virtual vehicle obtained by simulating the actual measurement vehicle;
a receiving module 702, configured to receive vehicle data sent by an actually measured vehicle;
the processing module 703 is configured to test, according to the vehicle data, a first virtual vehicle in the virtual test scenario through the test case to obtain a test result.
Optionally, the scene generating module 701 includes:
the first generation submodule is used for generating a map according to the mapping data;
and the second generation submodule is used for generating a virtual test scene of the actual measurement vehicle in the actual measurement vehicle test scene according to the map.
Optionally, the receiving module 702 is specifically configured to receive vehicle data sent by the measured vehicle through a controller area network CAN interface and/or an ethernet interface, where the vehicle data includes navigation positioning information and/or vehicle state information of the measured vehicle in the current driving state.
Optionally, the processing module 703 includes:
the first processing submodule is used for generating a test case of a virtual test scene according to the vehicle data, and the test case comprises: the first virtual vehicle runs on a virtual road in the virtual test scene at a first speed according to the vehicle data;
and the second processing submodule is used for testing the virtual test scene according to the test case to obtain a test result.
Optionally, the virtual test scenario includes at least one of:
a safety auxiliary virtual test scene;
road efficiency class virtual test scenario.
Optionally, when the virtual test scenario includes a safety assistant virtual test scenario, the second processing sub-module includes:
a first receiving unit, configured to receive an interactive data message sent by a virtual V2X device in the virtual test scenario;
the first sending unit is used for sending the interactive data message to an OBU (on-board unit) to be tested of the actually-measured vehicle;
the second receiving unit is used for receiving an early warning result fed back by an OBU (on board unit) of the measured vehicle according to the interactive data message;
and the obtaining unit is used for obtaining a test result according to the early warning result.
Optionally, the first sending unit is specifically configured to send the interactive data packet to a preset interface through the auxiliary road side unit RSU or the auxiliary on-board unit OBU, and send the interactive data packet to the measured on-board unit OBU of the measured vehicle through the preset interface.
In the embodiment provided by the present disclosure, a scene generation module 701 generates a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene, where the virtual test scene includes a first virtual vehicle obtained by simulating the actual measurement vehicle; the receiving module 702 receives vehicle data sent by an actually measured vehicle; the processing module 703 tests the first virtual vehicle in the virtual test scene through the test case according to the vehicle data to obtain a test result; the test scene of the actual measurement vehicle is restored on the simulation server, the generation of the virtual test scene based on the actual measurement vehicle is realized, the test case of the virtual test scene can be generated according to the actual requirement, the real-time test of the actual measurement vehicle is realized, and the actual test requirement of the intelligent internet vehicle is met.
The testing device of the vehicle in the virtual scene in the embodiment of the present disclosure may be a virtual device, or may be a component, an integrated circuit, or a chip in a server or a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the disclosed embodiments are not limited in particular.
The testing device of the vehicle under the virtual scene in the embodiment of the present disclosure may be a device having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and the embodiment of the present disclosure is not particularly limited.
The vehicle testing device in the virtual scene provided by the embodiment of the present disclosure can implement each process implemented by the method embodiments of fig. 1 to fig. 6, and is not described herein again to avoid repetition.
Optionally, as shown in fig. 8, an electronic device 800 is further provided in the embodiment of the present disclosure, and includes a processor 801, a memory 802, and a program or an instruction stored in the memory 802 and executable on the processor 801, where the program or the instruction is executed by the processor 801 to implement each process of the embodiment of the vehicle testing method in the virtual scenario, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here. It should be noted that the electronic devices in the embodiments of the present disclosure include the mobile electronic device and the non-mobile electronic device described above.
Fig. 9 is a schematic diagram of a hardware structure of an electronic device implementing an embodiment of the present disclosure.
The electronic device 900 includes, but is not limited to: a radio frequency unit 901, a network module 902, an audio output unit 903, an input unit 904, a sensor 905, a display unit 906, a user input unit 907, an interface unit 908, a memory 909, and a processor 910.
Those skilled in the art will appreciate that the electronic device 900 may further include a power source (e.g., a battery) for supplying power to various components, and the power source may be logically connected to the processor 910 through a power management system, so as to manage charging, discharging, and power consumption management functions through the power management system. The electronic device structure shown in fig. 9 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is not repeated here.
It is to be understood that, in the embodiment of the present disclosure, the input Unit 904 may include a Graphics Processing Unit (GPU) 9041 and a microphone 9042, and the Graphics processor 9041 processes image data of a still picture or a video obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 906 may include a display panel 9061, and the display panel 9061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 907 includes a touch panel 9071 and other input devices 9072. A touch panel 9071 also referred to as a touch screen. The touch panel 9071 may include two parts, a touch detection device and a touch controller. Other input devices 9072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein. Memory 909 can be used to store software programs as well as various data including, but not limited to, application programs and operating systems. The processor 910 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It is to be appreciated that the modem processor described above may not be integrated into processor 910.
The embodiment of the present disclosure further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the embodiment of the method for testing a vehicle in the virtual scene, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device in the above embodiment. Readable storage media, including computer-readable storage media, such as Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, etc.
The embodiment of the present disclosure further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to run a program or an instruction, to implement each process of the embodiment of the method for testing a vehicle in the virtual scene, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted here.
It should be understood that the chips mentioned in the embodiments of the present disclosure may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it is noted that the scope of the methods and apparatus in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, but may include performing functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present disclosure may be embodied in the form of a computer software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (e.g., a mobile phone, a computer, a server, or a network device) to execute the method of the embodiments of the present disclosure.
While the present disclosure has been described with reference to the embodiments illustrated in the drawings, which are intended to be illustrative rather than restrictive, it will be apparent to those of ordinary skill in the art in light of the present disclosure that many more modifications may be made without departing from the spirit of the disclosure and the scope of the appended claims.
Claims (10)
1. A method for testing a vehicle in a virtual scene is characterized by comprising the following steps:
generating a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene, wherein the virtual test scene comprises a first virtual vehicle obtained by simulating the actual measurement vehicle;
receiving vehicle data sent by the measured vehicle;
and testing the first virtual vehicle in the virtual test scene through a test case according to the vehicle data to obtain a test result.
2. The method according to claim 1, wherein generating the virtual test scenario of the measured vehicle in the measured vehicle test scenario comprises:
generating a map according to the mapping data;
and generating a virtual test scene of the actual measurement vehicle in the actual measurement vehicle test scene according to the map.
3. The method for testing the vehicle under the virtual scene according to claim 1, wherein the step of receiving the vehicle data sent by the actual measurement vehicle comprises the following steps:
and receiving vehicle data sent by the measured vehicle through a Controller Area Network (CAN) interface and/or an Ethernet interface, wherein the vehicle data comprises navigation positioning information and/or vehicle state information of the measured vehicle in the current running state.
4. The method according to claim 1, wherein the step of testing the first virtual vehicle in the virtual test scenario through a test case according to the vehicle data to obtain a test result comprises:
generating a test case of the virtual test scene according to the vehicle data, wherein the test case comprises: a first virtual vehicle runs on a virtual road in the virtual test scene at a first speed according to the vehicle data;
and testing the virtual test scene according to the test case to obtain a test result.
5. The method for testing vehicles under the virtual scene of claim 4, wherein the virtual test scene comprises at least one of the following:
a safety auxiliary virtual test scene;
road efficiency class virtual test scenario.
6. The method according to claim 5, wherein when the virtual test scenario includes a safety-assisted virtual test scenario, the virtual test scenario is tested according to the test case to obtain a test result, and the method includes:
receiving an interactive data message sent by the virtual V2X equipment in the virtual test scene;
sending the interactive data message to an OBU (on board unit) of the measured vehicle;
receiving an early warning result fed back by an OBU (on board unit) of the measured vehicle according to the interactive data message;
and obtaining a test result according to the early warning result.
7. The method for testing the vehicle under the virtual scene according to claim 6, wherein the sending the interactive data message to an on-board unit (OBU) of the measured vehicle comprises:
and sending the interactive data message to a preset interface through an auxiliary Road Side Unit (RSU) or an auxiliary vehicle-mounted unit (OBU), and sending the interactive data message to a tested OBU of the actually-measured vehicle through the preset interface.
8. A testing apparatus for a vehicle in a virtual scene, the apparatus comprising:
the system comprises a scene generation module, a simulation module and a control module, wherein the scene generation module is used for generating a virtual test scene of an actual measurement vehicle in an actual measurement vehicle test scene, and the virtual test scene comprises a first virtual vehicle obtained by simulating the actual measurement vehicle;
the receiving module is used for receiving vehicle data sent by the actual measurement vehicle;
and the processing module is used for testing the first virtual vehicle in the virtual test scene through the test case according to the vehicle data to obtain a test result.
9. An electronic device comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions when executed by the processor implementing the steps of the method of testing a vehicle under a virtual scenario of any one of claims 1-7.
10. A readable storage medium, on which a program or instructions are stored, which when executed by a processor, implement the steps of the method for testing a vehicle under a virtual scenario as claimed in any one of claims 1 to 7.
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