CN114356757A - Test condition configuration method based on limited automatic driving simulation scene - Google Patents
Test condition configuration method based on limited automatic driving simulation scene Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 132
- 238000004088 simulation Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000013500 data storage Methods 0.000 claims abstract description 25
- 238000004458 analytical method Methods 0.000 claims abstract description 8
- 238000012795 verification Methods 0.000 claims description 10
- 230000009191 jumping Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
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- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 238000009960 carding Methods 0.000 claims description 2
- 238000011990 functional testing Methods 0.000 claims description 2
- 238000011161 development Methods 0.000 abstract description 6
- 230000001939 inductive effect Effects 0.000 abstract description 3
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- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3668—Software testing
- G06F11/3672—Test management
- G06F11/3688—Test management for test execution, e.g. scheduling of test suites
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Abstract
The invention provides a test condition configuration method based on a limited automatic driving simulation scene, which is characterized in that a simulation task is distributed, a host and a data storage server are configured, a plurality of slave machines are used as test nodes, a test task is distributed to the data storage server through the host, the slave machines read a test task file of the data storage server to obtain the test task, the slave machines execute a test case and upload a test result to the data storage server, and the host generates a test report according to the test result. In the development process of the limited automatic driving system, the system requirements are subjected to inductive analysis and distributed arrangement of simulation tasks, so that the model simulation test efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of intelligent networking automobile simulation tests, and particularly relates to a test condition configuration method based on a limited automatic driving simulation scene.
Background
At present, the intelligent driving technology of the intelligent internet vehicle relates to a large amount of tests in the research and development process, including virtual tests, closed field tests, open road tests and the like. In the early stage of research and development, virtual simulation testing is a main testing means for algorithm development and functional verification.
The development of simulation tests involves virtual scenes including traffic participants, static road models, environmental models, and the like. The virtual scene has very high requirements on hardware in the virtual test process, and a single working condition and case test can consume a certain working hour. Meanwhile, the high-precision vehicle dynamics model is selected, which means that the simulation frequency is increased by dozens of times, and huge calculation pressure is brought to a simulation test platform. When the test cases are very many, the efficiency of the virtual test is greatly challenged, and even the development progress is influenced.
With the increase of the intelligent level, it is very necessary to design an intelligent driving virtual scene by some methods, so as to effectively verify the functional requirements and detect the system defects.
Disclosure of Invention
Based on the background, the invention provides a test condition configuration method based on a limited automatic driving simulation scene, and in the development process of a limited automatic driving system, the efficiency of model simulation test is improved by inductive analysis and distributed arrangement of simulation tasks on system requirements.
The technical scheme of the invention is as follows:
a test condition configuration method based on a limited automatic driving simulation scene is characterized in that an idle computer is used as a distributed computing node, a distributed cluster is used for simulation test, and the existing resources are utilized to improve the simulation test efficiency. The method includes the steps that a host and a data storage server are configured, a plurality of slave machines are used as test nodes, test tasks are distributed to the data storage server through the host, the slave machines read test task files of the data storage server to obtain the test tasks, the slave machines execute test cases and upload test results to the data storage server, and the host generates test reports according to the test results.
Further, the method also comprises the steps of carrying out simulation test analysis on system requirements, classifying and dividing the system requirements, selecting different simulation test platforms according to different test requirements, and selecting a simulation test platform with high-precision vehicle dynamics for the condition that closed-loop control needs to be verified or a strong coupling relation exists among kinematic parameters of the vehicle; for the system requirements only related to system state jumping or target selection but not related to system closed-loop control, a scheme without a mechanical platform is adopted for verification, and whether the actual performance of the state quantity is consistent with the expected performance or not is judged by drawing a track for a main vehicle carrying an automatic driving system in a simulator, so that the aim of simulation test is fulfilled.
The invention has the following advantages:
1. in the development process of the limited automatic driving system, simulation tasks are distributed, a distributed cluster is used for simulation test, a plurality of computers in a unified local area network are connected through a data storage server as a medium for information transmission, and the aim of linearly improving the simulation test efficiency is fulfilled.
2. Through inductive analysis of system requirements, different simulation test platforms are selected according to different test requirements, and simulation test efficiency is improved in the aspect of optimizing test plans.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of a distributed computing method based on multiple computers in a local area network;
FIG. 2 is a flow chart of a system requirement simulation test analysis method.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The method for configuring the test conditions based on the limited automatic driving simulation scene adopts the distributed arrangement of a plurality of computers in the local area network as shown in figure 1, and comprises the following steps:
step 1, a tester configures a high-performance computer (host) needing to participate in simulation test, a computer (slave) used as a node for simulation test calculation, and a server used for storing data and distributing test tasks.
Step 2, a test responsible person needs to draw up a test plan in advance before a project group releases formal software, and arranges personnel to complete basic work such as compiling test cases, test step documents and test script documents, building a simulation test scene, configuring a simulation test environment, installing simulation test software and the like; and after the software is formally released, generating a test case list according to the test case list in the test plan.
And 3, the host sends the test case list to a data storage server.
And 4, judging whether the slave machine is available by the host machine according to the slave machine state log recorded on the data storage server.
Step 5, if the state of the slave machine meets the test requirement, the slave machine is set to be available in the slave machine list; if the slave status does not meet the test requirements, it needs to be set as unavailable in the slave list.
And 6, updating the slave list state for the next judgment period.
And 7, judging whether the node is idle or not by the host according to the slave state log recorded on the data storage server.
Step 8, if the node is idle, executing step 9; and if the node is not idle, jumping to the step 4.
And 9, distributing a single test task for the available nodes by the host.
Step 10, the host judges whether the test is finished, if so, the next step is carried out, and if not, the step 4 is skipped; the slave machine reads the execution configuration file in the data storage server through the background application program, and identifies the test task distributed by the host machine from the execution configuration file.
Step 11, if the master computer detects that all the test tasks are finished, sending an instruction to close all the slave computers; and the slave machine judges whether the host machine distributes a new test task, if the new test task exists, the next step is executed, and if the new test task does not exist, the slave machine part is skipped to step 10.
Step 12, the host reads the test result on the data storage server and automatically generates a test report; and automatically generating a test model after the slave receives a new test task.
Step 13, the host process is finished; and the slave machine executes the simulation test program.
And step 14, the slave computer stores the simulation test result in the data storage server.
Fig. 2 is a schematic flow chart of a system requirement simulation test analysis method. The method classifies system requirements, selects different simulation test platforms according to different test requirements, and improves simulation test efficiency in the aspect of optimizing test plans.
Step 1, decomposing system requirements, including carding system requirement conditions, writing verification criteria and the like.
And 2, designing a test working condition and a test flow according to the system requirement and the verification criterion, wherein the test working condition and the test flow comprise the operations of designing static roads and dynamic traffic participants, a driver model, skip logic of a vehicle information state and the like in a virtual simulation test scene.
And 3, judging whether the test case needs to use the vehicle dynamics model.
Step 4, if closed-loop control needs to be verified or a strong coupling relation exists among kinematic parameters of the vehicle, a simulation test platform with high-precision vehicle dynamics needs to be selected; and if only the functional test verification of target selection and state machine jumping is carried out, selecting a simulation test platform without vehicle dynamics.
And 5, developing a simulation test by using the distributed cluster.
And 6, ending.
Claims (4)
1. A test condition configuration method based on a limited automatic driving simulation scene is characterized in that,
the method includes the steps that a host and a data storage server are configured for distributed arrangement of simulation tasks, a plurality of slave machines are used as test nodes, test tasks are distributed to the data storage server through the host, the slave machines read test task files of the data storage server to obtain the test tasks, the slave machines execute test cases and upload test results to the data storage server, and the host generates test reports according to the test results.
2. The method for configuring the test conditions based on the limited autopilot simulation scenario as recited in claim 1, wherein the method specifically comprises the steps of:
step 1, a host sends a test case list to a data storage server;
step 2, the host judges whether the slave is available according to the slave state log recorded on the data storage server;
step 3, if the state of the slave machine meets the test requirement, the slave machine is set to be available in the slave machine list; if the state of the slave machine does not meet the test requirement, the state of the slave machine needs to be set as unavailable in a slave machine list;
step 4, updating the state of the slave machine list for the next judgment period;
step 5, the host judges whether the node is idle according to the slave state log recorded on the data storage server;
step 6, if the node is idle, executing step 7; if the node is not idle, jumping to the step 2;
step 7, the host distributes a single test task for the available nodes;
step 8, the host judges whether the test is finished, if so, the step 9 is carried out, and if not, the step 2 is skipped; the slave reads an execution configuration file in the data storage server through a background application program, and identifies a test task distributed by the host from the execution configuration file;
step 9, if the host detects that all the test tasks are finished, sending an instruction to close all the slave machines; the slave machine judges whether the host machine distributes a new test task, if the new test task exists, the next step is executed, and if the new test task does not exist, the slave machine part is skipped to step 8;
step 10, the host reads the test result on the data storage server and generates a test report; automatically generating a test model after the slave machine receives a new test task;
step 11, the host process is finished; the slave machine executes a simulation test program;
and step 12, the slave computer stores the simulation test result in the data storage server.
3. The method for configuring the test conditions based on the limited autopilot simulation scenario as claimed in claim 1, further comprising simulation test analysis of system requirements, classification of system requirements, selection of different simulation test platforms according to different test requirements, selection of a simulation test platform with high precision vehicle dynamics for the need of verification of closed-loop control or strong coupling relationship to kinematic parameters of the vehicle; for the system requirement only involving system state jump or target selection and not involving system closed-loop control, a scheme without a mechanical platform is adopted for verification.
4. The method for configuring test conditions based on the limited autopilot simulation scenario as recited in claim 3, wherein the simulation test analysis of the system requirements specifically includes:
step 1, decomposing system requirements, including carding system requirement conditions, compiling verification criteria and the like;
step 2, designing a test working condition and a test flow according to system requirements and verification criteria, wherein the test working condition and the test flow comprise static roads and dynamic traffic participants, the operation of a driver model, the skip logic of a vehicle information state and the like in a virtual simulation test scene;
step 3, judging whether the test case needs to use the vehicle dynamics model;
step 4, if closed-loop control needs to be verified or a strong coupling relation exists among kinematic parameters of the vehicle, selecting a simulation test platform with high-precision vehicle dynamics; if only the functional test verification of target selection and state machine jumping is carried out, a simulation test platform without vehicle dynamics is selected;
and 5, developing a simulation test by using the distributed cluster.
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