CN114442596A - Vehicle testing method and system - Google Patents
Vehicle testing method and system Download PDFInfo
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Abstract
The invention discloses a vehicle testing method and a vehicle testing system. The method comprises the following steps: the method comprises the steps that a vehicle test is started by test software, simulation scene data and a simulation running track are determined according to test requirements, and the simulation scene data and the simulation running track are sent to a first controller; when the first controller determines that a test environment formed by the simulation scene data and the simulation running track is a first scene, early warning data is determined, the early warning data is returned to the test software, and the test software determines a test result of the first controller; when the first controller determines that the scene is the second scene, the simulation scene data and the simulation running track are sent to the second controller; and the second controller determines decision data in the second scene, and returns the decision data to the testing software, so that the testing software determines the testing result of the second controller. According to the technical scheme, vehicle testing is carried out under the condition that the first scene and the second scene are fused, the real driving scene is restored, automatic hardware-in-the-loop testing under scene fusion is achieved, and human resources are saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of testing, in particular to a vehicle testing method and system.
Background
In order to improve traffic efficiency, guarantee traffic safety and realize the collaborative development of the fields of automobiles, communication and traffic, the V2X (Vehicle to X) technology becomes the key research direction of automobile intellectualization and networking. Where V2X is the exchange of information from vehicle to outside. The Internet of vehicles establishes a new automobile technology development direction by integrating a global positioning system navigation technology, an automobile-to-automobile communication technology, a wireless communication technology and a remote sensing technology, and realizes the compatibility of manual driving and automatic driving.
At present, an existing fusion simulation test system comprises a simulation system, a vehicle dynamics model and a tested device, a test method comprises the steps that the simulation system outputs main vehicle information and peripheral device information to the test device, and the simulation system receives a vehicle control command of the vehicle dynamics model and executes corresponding operation.
In the V2X scene simulation test, because most of the first-stage scene decisions of V2X are determined by the smart antenna, and the second-stage scene decisions are determined by the smart driving controller, the V2X scene simulation test cannot be performed in a complex scene, and the V2X scene simulation test does not realize an automatic test, still depends on manual test, and is time-consuming and labor-consuming.
Disclosure of Invention
The invention provides a vehicle testing method and a vehicle testing system, which are used for realizing vehicle testing under the condition of fusion of a first scene and a second scene, realizing scene fusion testing and testing automation in a testing scene, avoiding manual testing and saving human resources.
In a first aspect, an embodiment of the present invention provides a vehicle testing method, including:
after the test software starts a vehicle test, determining simulation scene data and a simulation operation track according to test requirements, and sending the simulation scene data and the simulation operation track to the first controller;
when the first controller determines that the test environment formed by the simulation scene data and the simulation running track is a first scene, early warning data is determined in the first scene and returned to the test software, so that the test software determines a test result of the first controller according to the early warning data and standard early warning corresponding to the simulation scene data and the simulation running track;
when the first controller determines that the test environment formed by the simulation scene data and the simulation running track is a second scene, the first controller sends the simulation scene data and the simulation running track to the second controller;
and the second controller determines decision data according to simulation sensing data, the simulation scene data and the simulation running track in the second scene, and returns the decision data to the test software, so that the test software determines a test result of the second controller according to the decision data and a standard decision corresponding to the simulation sensing data, the simulation scene data and the simulation running track.
Further, the first controller is used for controlling the vehicle to automatically early warn the driving condition in the first scene; the second controller is used for controlling the vehicle to automatically make a decision on the driving condition in the second scene.
Further, the vehicle test system further includes: scene simulation software and a signal generator correspondingly determine simulation scene data and simulation operation tracks according to test requirements, and the method comprises the following steps:
the test software sends the test requirements to the scene simulation software and the signal generator;
the scene simulation software determines the simulation scene data according to the test requirement; wherein the simulation scene data comprises simulation vehicle data and simulation environment data;
and the signal generator determines the simulation running track according to the test requirement.
Further, the vehicle test system further includes: a communication module for sending the simulated scene data and the simulated trajectory to the first controller accordingly, comprising:
the test software sends the simulation scene data and the simulation running track to the communication module;
the communication module performs protocol conversion on the simulation scene data and the simulation operation track, and sends the converted simulation scene data and the converted simulation operation track to the first controller.
Further, the communication module includes a first communication unit and a second communication unit, and correspondingly, the communication module performs protocol conversion on the simulation scene data and the simulation operation trajectory, and sends the converted simulation scene data and the converted simulation operation trajectory to the first controller, including:
the first communication unit performs protocol conversion on the simulation scene data and the simulation running track to obtain the converted simulation scene data and the converted simulation running track;
and the second communication unit sends the converted simulation scene data and the simulation running track to the first controller.
Further, before the test software determines the test result of the first controller according to the early warning data, the simulation scenario data, and the standard early warning corresponding to the simulation running track, the method further includes:
the test software determines the standard early warning according to the simulation scene data and the simulation running track; wherein the standard early warning comprises an early warning sequence in the first scene;
correspondingly, the test software determines the test result of the first controller according to the early warning data, the simulation scene data and the standard early warning corresponding to the simulation operation track, and the method comprises the following steps:
and the testing software determines the first similarity of the early warning sequence contained in the early warning data and the early warning sequence contained in the standard early warning, and if the similarity is greater than a preset value, the testing result is determined to be qualified.
Further, the vehicle test system further includes: the sensing module, correspondingly, before the second controller determines decision data according to the simulated sensing data, the simulated scene data and the simulated moving trajectory in the second scene, further includes:
and the sensing module determines the simulation sensing data according to the test requirement sent by the test software and sends the simulation sensing data to the second controller.
Further, before the test software determines the test result of the second controller according to the decision data and the standard decision corresponding to the simulation sensing data, the simulation scene data and the simulation running track, the method further includes:
the test software determines the standard decision according to the simulation sensing data, the simulation scene data and the simulation running track;
correspondingly, the determining, by the testing software, the test result of the second controller according to the decision data and the standard decision corresponding to the simulation sensing data, the simulation scene data and the simulation running track includes:
the test software determining whether the decision data is consistent with the standard decision;
and if the decision data is consistent with the standard decision, determining that the test result is qualified.
In a second aspect, an embodiment of the present invention further provides a vehicle testing system, including:
test software, a test environment, a first controller and a second controller of a vehicle, wherein the test software is configured to: after a vehicle test is started, determining simulation scene data and a simulation operation track according to test requirements, and sending the simulation scene data and the simulation operation track to the first controller; the first controller is to: when the test environment formed by the simulation scene data and the simulation operation track is determined to be a first scene, early warning data is determined in the first scene, and the early warning data is returned to the test software, so that the test software determines a test result of the first controller according to the early warning data and standard early warnings corresponding to the simulation scene data and the simulation operation track; when the test environment formed by the simulation scene data and the simulation running track is determined to be a second scene, the simulation scene data and the simulation running track are sent to the second controller; the second controller is to: and determining decision data according to the simulation sensing data, the simulation scene data and the simulation running track in the second scene, and returning the decision data to the test software, so that the test software determines a test result of the second controller according to the decision data, the simulation sensing data, the simulation scene data and a standard decision corresponding to the simulation running track.
Further, the vehicle test system further includes: scene simulation software and a signal generator, the scene simulation software being configured to: determining the simulation scene data according to the test requirement; wherein the simulation scene data comprises simulation vehicle data and simulation environment data; the signal generator is configured to: and determining the simulation running track according to the test requirement.
Further, the vehicle test system further includes: a communication module to: and carrying out protocol conversion on the simulation scene data and the simulation operation track, and sending the converted simulation scene data and the converted simulation operation track to the first controller.
Further, the vehicle test system further includes: a sensing module to: and determining the simulation sensing data according to the test requirement sent by the test software, and sending the simulation sensing data to the second controller.
The vehicle test is started through the test software, the simulation scene data and the simulation running track are determined according to the test requirements, and the simulation scene data and the simulation running track are sent to the first controller; when the first controller determines that a test environment formed by the simulation scene data and the simulation running track is a first scene, early warning data is determined, the early warning data is returned to the test software, and the test software determines a test result of the first controller; when the first controller determines that the scene is the second scene, the simulation scene data and the simulation running track are sent to the second controller; the second controller determines decision data in the second scenario and returns the decision data to the testing software, so that the testing software determines a testing result of the second controller. According to the technical scheme, the vehicle test is carried out under the condition that the first scene and the second scene are fused, the problem of fusion simulation test system and scheme loss is solved, and the automatic Hardware-in-the-Loop (HIL) test considering the scene fusion test in the test scene is realized without manual test.
Drawings
FIG. 1 is a schematic diagram of a vehicle testing system in a vehicle testing method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle testing method provided by an embodiment of the present invention;
FIG. 3 is a flowchart of simulation scenario library determination in the vehicle testing method according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of another vehicle testing system in the vehicle testing method provided by the embodiment of the invention;
FIG. 5 is a flow chart of another vehicle testing method provided by embodiments of the present invention;
FIG. 6 is a schematic diagram of a vehicle testing system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of another vehicle testing system provided by an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The terms "first" and "second" and the like in the description of the present invention and the drawings are used for distinguishing different objects or for distinguishing different processes for the same object, and are not used for describing a specific order of the objects.
Furthermore, the terms "comprising" and "having" and any variations thereof as referred to in the description of the invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements recited, but may alternatively include other steps or elements not recited, or may alternatively include other steps or elements inherent to such process, method, article, or apparatus.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
It should be noted that, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the description of the present invention, the meaning of "a plurality" means two or more unless otherwise specified.
Fig. 1 is a schematic diagram of a vehicle testing system in a vehicle testing method provided in an embodiment of the present invention, and as shown in fig. 1, the testing system may include: test software 101, a test environment 102, a first controller 103, and a second controller 104.
The test software 101 may be used for test modeling, test execution, test evaluation, and test report, and may also determine simulation scenario data and a simulation operation trajectory according to a test requirement, and send the simulation scenario data and the simulation operation trajectory to the first controller.
The test environment 102 may be configured to determine test environment data according to test requirements after the test software starts a vehicle test.
And the first controller 103 is used for controlling the vehicle to automatically early warn the driving condition in the first scene.
And the second controller 104 is used for controlling the vehicle to automatically decide the driving condition in the second scene.
The vehicle testing system provided by the embodiment of the invention is used for executing the vehicle testing method provided by the embodiment of the invention.
The following embodiments will describe the vehicle testing method in detail in conjunction with the vehicle testing system of fig. 1.
Fig. 2 is a flowchart of a vehicle testing method provided in an embodiment of the present invention, where the embodiment is applicable to a vehicle testing situation, and the method may be executed by the vehicle testing system provided in the embodiment of the present invention, and specifically includes the following steps:
s201, after the vehicle test is started by the test software, determining simulation scene data and a simulation running track according to test requirements, and sending the simulation scene data and the simulation running track to the first controller.
Wherein, before vehicle testing, a simulation scene library needs to be built. Fig. 3 is a flowchart of determining a simulation scenario library in the vehicle testing method according to the embodiment of the present invention, and referring to fig. 3, the determining of the simulation scenario library includes the following steps:
and S301, analyzing scene requirements.
And S302, extracting simulation scene data.
The simulation scenario data may include data of the vehicle and the environment, among others.
And S303, modeling a simulation scene.
And S304, generating a simulation scene use case library.
Table 1 shows scene components and detailed descriptions of complex scene designs provided in the embodiments of the present invention.
TABLE 1 scene composition Table and detailed description of Complex Scenario designs
Wherein, the simulation scenario library may include a single V2X application scenario, a complex V2X application scenario, and a large-scale V2X application scenario; the single V2X application scenario is used for testing the single function realization of the V2X; the complex V2X application scenario is used for the priority decision test, and the large-scale V2X application scenario is used for a scenario for joining a random traffic flow simulation, wherein the number of background vehicles is not less than 60.
In table 1, the first-stage scene, the second-stage scene, and the scene composition in which the first-stage scene and the second-stage scene exist simultaneously are described in detail in the form of a table, and the first-stage scene and the second-stage scene in the table correspond to the first scene and the second scene in the present invention.
Specifically, the first controller may be an intelligent antenna, and is configured to control the vehicle to perform automatic early warning on the driving condition in the first scene; the simulation scene data may be understood as a V2X message; the simulated running track can be understood as the GPS running track of the tested vehicle.
For example, after the vehicle test is started by the test software, the V2X message and the GPS running track of the vehicle under test are determined according to the test requirement, and the V2X message and the GPS running track of the vehicle under test are sent to the smart antenna. According to the embodiment of the invention, the complex scenes under the coexistence of the first-stage and second-stage scenes in the V2X scene library are defined, representative fusion scenes are selected, and the priority of the functions can be judged.
In the embodiment of the invention, the simulation scene data and the simulation operation track are determined according to the test requirements, so that the accuracy of determining the simulation scene data and the simulation operation track can be improved.
S202, when the first controller determines that a test environment formed by the simulation scene data and the simulation running track is a first scene, early warning data are determined in the first scene and returned to the test software, so that the test software determines a test result of the first controller according to the early warning data and standard early warnings corresponding to the simulation scene data and the simulation running track.
Specifically, the first controller may determine a scene type of the test environment according to the simulation scene data and the simulation running track, and after the scene type is determined, determine the early warning data in the determined scene and return the early warning data to the test software, so that the test software determines a test result of the first controller.
Illustratively, when the test environment formed by the simulation scene data and the simulation running track is determined to be a first scene, the smart antenna determines early warning data according to the V2X message and the GPS running track of the vehicle to be tested in the first scene, and returns the early warning data to the test software, and the test software compares the early warning data with the V2X message and the standard early warning data corresponding to the GPS running track of the vehicle to be tested, for example, the early warning sequence related to early warning corresponding to each sequence number in the scene composition in table 1 may be the early warning sequence in the standard early warning in the invention, but does not take the early warning sequence in the table as the only standard sequence; if the early warning data and the standard early warning data are compared and the early warning data and the standard early warning data meet certain preset conditions, determining that the test result of the intelligent antenna is qualified; and if the early warning data and the standard early warning data are compared and the two data are determined not to meet certain preset conditions, determining that the test result of the intelligent antenna is unqualified.
In the embodiment of the invention, when the first controller determines that the test environment is the first scene, the early warning data is determined in the first scene, and the early warning data is returned to the test software, so that the test software determines the test result of the first controller according to the early warning data, the simulation scene data and the standard early warning corresponding to the simulation running track, and the accuracy of the test result of the first controller can be improved.
S203, when the first controller determines that the test environment formed by the simulation scene data and the simulation running track is a second scene, the simulation scene data and the simulation running track are sent to the second controller.
The second controller may be an intelligent driving controller, and is configured to control the vehicle to make an automatic decision on the driving condition in the second scene.
For example, when the smart antenna determines that the test environment formed by the V2X message and the GPS running track of the vehicle under test is the second scenario, the smart antenna transmits the V2X message and the GPS running track of the vehicle under test to the smart driving controller.
In the embodiment of the invention, when the first controller determines that the test environment formed by the simulation scene data and the simulation operation track is the second scene, the simulation scene data and the simulation operation track are sent to the second controller, so that the aim of vehicle test under scene fusion can be fulfilled.
And S204, the second controller determines decision data in a second scene according to the simulation sensing data, the simulation scene data and the simulation running track, and returns the decision data to the test software, so that the test software determines a test result of the second controller according to the decision data, the simulation sensing data, the simulation scene data and a standard decision corresponding to the simulation running track.
The simulation sensing data can be understood as sensing data of a sensor, and can be determined by acquiring data through an Advanced Driving Assistance System (ADAS). The ADAS uses various sensors (millimeter wave radar, laser radar, monocular/binocular camera and satellite navigation) installed on the vehicle to sense the surrounding environment at any time during the driving process of the vehicle, collect data, and combine with navigation map data to perform systematic operation and analysis to obtain simulation sensing data.
For example, the intelligent driving controller determines decision data according to the sensing data of the sensor, the V2X message and the GPS running track of the vehicle to be tested in the second scenario, and returns the decision data to the testing software, and the testing software compares the decision data with standard decision data corresponding to the sensing data of the sensor, the V2X message and the GPS running track of the vehicle to be tested, for example, the collaborative vehicle formation management in table 1 above may be the standard decision data in the present invention; if the decision data and the standard decision data are identical after being compared, determining that the test result of the intelligent driving controller is qualified; and if the early warning data is different from the standard early warning data after being compared, determining that the test result of the intelligent driving controller is unqualified.
In the embodiment of the invention, the test software determines the test result of the second controller according to the decision data, the simulation sensing data, the simulation scene data and the standard decision corresponding to the simulation running track, so that the accuracy of determining the test result of the second controller can be improved.
According to the technical scheme provided by the embodiment of the invention, a vehicle test is started through test software, simulation scene data and a simulation running track are determined according to test requirements, and the simulation scene data and the simulation running track are sent to a first controller; when the first controller determines that a test environment formed by the simulation scene data and the simulation running track is a first scene, early warning data is determined, the early warning data is returned to the test software, and the test software determines a test result of the first controller; when the first controller determines that the first scene is a second scene, the simulation scene data and the simulation running track are sent to the second controller; the second controller determines decision data in the second scenario and returns the decision data to the testing software, so that the testing software determines a testing result of the second controller. According to the technical scheme, the vehicle test is carried out under the condition that the first scene and the second scene are fused, the problem that a fusion simulation test system and a scheme are lacked is solved, the automatic HIL test considering the scene fusion test in the test scene is realized, the automatic test of V2X and ADAS in the fusion scene is further realized, and the human resources are saved.
Fig. 4 is a schematic diagram of another vehicle testing system in the vehicle testing method according to the embodiment of the present invention, and as shown in fig. 4, the testing system may include: test software 401, test environment 402, first controller 403, second controller 404, scene simulation software 405, signal generator 406, communication module 407, and sensing module 408.
The scene simulation software 405 is configured to determine simulation scene data according to a test requirement; the simulation scene data comprises simulation vehicle data and simulation environment data.
And the signal generator 406 is used for determining the simulation running track according to the test requirement.
The communication module 407 is configured to perform protocol conversion on the simulation scene data and the simulation running track, and send the converted simulation scene data and the converted simulation running track to the first controller 403.
The sensing module 408 is configured to determine simulated sensing data according to the test requirement sent by the test software 401, and send the simulated sensing data to the second controller 404.
The vehicle testing system provided by the embodiment of the invention is used for executing the vehicle testing method provided by the embodiment of the invention.
The following embodiments will describe the vehicle testing method in detail with reference to the vehicle testing system of fig. 4.
Fig. 5 is a flowchart of another vehicle testing method provided in an embodiment of the present invention, which is embodied on the basis of the above embodiment, and illustrates an implementation manner of the embodiment. As shown in fig. 5, in this embodiment, the method may further include:
s501, after the vehicle test is started by the test software, the test software sends the test requirement to the scene simulation software and the signal generator.
The scene simulation software can use V2X scene simulation software and is used for determining simulation scene data according to test requirements; the signal generator may internally store a Global Navigation Satellite System (GNSS) file for determining a running track of a Global Positioning System (GPS) of the vehicle under test. GNSS is a space-based radio navigation positioning system that can provide users with all-weather three-dimensional coordinates and velocity and time information at any location on the earth's surface or near-earth space.
The test requirements may include an early warning test for a first controller of the vehicle and may also include a decision test for a second controller of the vehicle.
Illustratively, when the early warning test is a red light running early warning, after the test software starts a vehicle test, the test software sends a test requirement of the intelligent antenna of the vehicle for the red light running early warning to the V2X and the signal generator.
In the embodiment of the invention, the test software sends the test requirements to the scene simulation software and the signal generator, so that the scene simulation software and the signal generator can determine corresponding data according to the test requirements.
And S502, determining simulation scene data by the scene simulation software according to the test requirements.
The simulation scene data comprises simulation vehicle data and simulation environment data.
The simulated vehicle data may include vehicle profile (length, width, and height), positioning information (positioning state, timestamp, longitude, latitude, altitude, latitude and longitude extension, positioning accuracy), heading information (vehicle heading, heading accuracy), vehicle speed information (vehicle speed, speed direction angle, vehicle acceleration, acceleration direction angle), vehicle state (braking state, steering state, fault light state), and the like.
The simulation environment data may include: traffic information (traffic light type, traffic light position, traffic light lane, etc.), road information (road type, lane width, number of lanes, friction coefficient), weather conditions (fine rain, snow, hail), and other vehicles (longitude, latitude, altitude, latitude and longitude extension, positioning accuracy, vehicle heading, vehicle speed, speed direction angle, vehicle acceleration, acceleration direction angle, braking state, steering state), etc.
Illustratively, when the test requirement is a red light running early warning test of an intelligent antenna of a vehicle, the simulated vehicle data is determined to be the vehicle appearance, the vehicle speed information and the vehicle state according to the test requirement of the red light running early warning, and the simulated environment data is traffic information and road information.
In the embodiment of the invention, the scene simulation software determines the simulation scene data according to the test requirement, so that the applicability of the simulation scene data can be improved.
S503, the signal generator determines a simulation running track according to the test requirement, and sends the simulation scene data and the simulation running track to the first controller.
Illustratively, the signal generator determines traffic information and road information in simulated environment data of the vehicle according to a test requirement of red light running early warning, determines a simulated running track of the vehicle in a simulated scene according to the traffic information and the road information, sends the simulated vehicle data and the simulated environment data to the intelligent antenna in a V2X message form through the communication module, and sends the simulated running track to the intelligent antenna through the signal generator.
In the embodiment of the invention, the simulation scene data can be determined according to the test requirement through the scene simulation software, the simulation running track can be determined according to the test requirement through the signal generator, and the determined simulation scene data and the simulation running track are further sent to the first controller, so that the test speed of the vehicle test can be improved.
It should be noted that, the execution sequence of step 502 and step 503 is not specifically limited herein, and may be determined according to actual requirements.
And S504, the test software sends the simulation scene data and the simulation running track to the communication module.
And S505, the communication module performs protocol conversion on the simulation scene data and the simulation operation track, and sends the converted simulation scene data and the converted simulation operation track to the first controller.
In one embodiment, the communication module includes a first communication unit and a second communication unit, and accordingly, S505 may specifically include: the first communication unit performs protocol conversion on the simulation scene data and the simulation operation track to obtain converted simulation scene data and simulation operation track; and the second communication unit sends the converted simulation scene data and the simulation running track to the first controller.
The first communication unit is a protocol stack, the first communication unit can adopt a V2X protocol stack to perform protocol conversion of simulation scene data and a simulation running track, the V2X protocol stack is divided into a message layer, a network layer and a safety layer, the simulation scene data simulated by V2X scene simulation software can be converted into scene messages recognizable by the radio communication comprehensive tester through a protocol, and the network layer messages of a tested piece fed back by the radio communication comprehensive tester can be converted into messages recognizable by the V2X scene simulation software through a protocol; the second communication unit is a radio communication comprehensive tester, and the converted simulation scene data and the simulation operation track can be sent to the first controller by using the radio communication comprehensive tester.
Specifically, after the simulation scene data and the simulation operation trajectory are determined, the test software needs to send the simulation scene data and the simulation operation trajectory to the communication module. And the V2X protocol stack in the communication module performs protocol conversion on the received simulation scene data and the simulation operation track, and sends the converted simulation scene data and the simulation operation track to the radio communication comprehensive tester, the radio communication comprehensive tester can perform communication parameter setting and channel model building, and converts the received simulation scene data message into a V2X message to send to the intelligent antenna. The radio communication comprehensive tester also issues a program control command to the vector signal generator and receives the time service of the appropriate signal generator.
Illustratively, the V2X protocol stack performs protocol conversion on the simulated vehicle data, the simulated environment data and the simulated operation trajectory to obtain converted simulated scene data and simulated operation trajectory, and the radio communication comprehensive tester sends the converted simulated vehicle data, the converted simulated environment data and the converted simulated operation trajectory to the smart antenna.
In the embodiment of the invention, the simulation scene data and the simulation operation track are sent to the communication module through the test software, the communication module can perform corresponding data conversion on the received simulation scene data and the received simulation operation track, and then the converted simulation vehicle data, the simulation environment data and the simulation operation track are sent to the first controller, so that the test efficiency of vehicle test is improved.
S506, the first controller determines whether a test environment formed by the simulation scene data and the simulation running track is a first scene.
If the test environment is the first scene, executing S507-S509; if the test environment is the second scenario, S510 is executed.
And S507, determining early warning data in the first scene, and returning the early warning data to the test software.
The early warning data may include: the method comprises the following steps of vehicle out-of-control early warning, abnormal vehicle reminding, blind area early warning/lane change assisting, reverse overtaking early warning, speed limit early warning, front congestion reminding, road dangerous condition reminding, forward collision early warning, traffic light state reminding, intersection collision early warning, red light running early warning, construction reminding, emergency braking early warning, blind area early warning, front collision early warning and emergency vehicle reminding.
Specifically, the early warning data may be determined in the first scene according to the simulated vehicle data and the simulated environment data, for example, the early warning data for red light running may be determined according to the vehicle shape, the vehicle speed information, the vehicle state in the simulated vehicle data and the traffic information in the simulated environment data, and the determined early warning data may be speed limit early warning, intersection collision early warning, traffic light state prompt, red light running early warning, speed limit early warning, intersection collision early warning, red light running early warning, and traffic light state prompt.
In the embodiment of the invention, the early warning data is determined in the first scene, so that the automatic vehicle test can be realized in the virtual scene, the vehicle test is not required to be actually carried out, and the human resources are saved.
And S508, determining standard early warning by the test software according to the simulation scene data and the simulation running track.
Wherein the standard early warning comprises an early warning sequence in the first scene.
Specifically, the standard early warning can be determined by the test software according to the simulated vehicle data, the simulated environment data and the simulated running track in the simulated scene data, for example, according to the vehicle appearance, the vehicle speed information and the traffic information of the vehicle, the standard early warning is determined to be speed limit early warning, traffic light state prompt, intersection collision early warning and red light running early warning.
S509, the testing software determines a first similarity between the early warning sequence contained in the early warning data and the early warning sequence contained in the standard early warning, and if the similarity is greater than a preset value, the testing result is determined to be qualified.
The first similarity may be understood as a standard pre-warning, and the preset value may be a specific value set according to actual requirements, for example, 70.
Illustratively, the early warning sequence contained in the early warning data determined by the test software is speed limit early warning, traffic light state prompting, intersection collision early warning and red light running early warning, the standard early warning sequence is marked as ABCD, and A, B, C and D correspond to the speed limit early warning, the traffic light state prompting, the intersection collision early warning and the red light running early warning in sequence; for example, the early warning sequence in the early warning data received by the test software includes three types, namely ABCD, ACBD and ACDB, and the first similarity is determined according to the comparison between the early warning sequence included in the early warning data and the early warning sequence included in the standard early warning, and when the early warning sequence in the early warning data is ABCD, the first similarity is the same as the early warning sequence in the standard early warning data, and the first similarity is 100, and the first similarity is greater than the preset value of 70, the test result of the intelligent antenna is determined to be qualified; when the early warning sequence in the early warning data is ACBD, the probability that the letter positions between the ABCD and the ACBD are the same is half, if the first similarity is 50, and if the first similarity is smaller than a preset value 70, the test result of the intelligent antenna is determined to be unqualified; and when the early warning sequence in the early warning data is ACDB, and the first similarity is smaller than a preset value 70, determining that the test result of the intelligent antenna is unqualified.
In the embodiment of the invention, the first similarity of the early warning sequence contained in the early warning data and the early warning sequence contained in the standard early warning is determined through the test software, the test result of the vehicle test can be determined according to the comparison between the similarity and the preset value, and the determination speed of the test result is increased.
And S510, sending the simulation scene data and the simulation running track to a second controller.
Specifically, when the first controller determines that the test environment is the second scene, the simulation scene data and the simulation running track are sent to the second controller in the form of ethernet data.
Illustratively, the smart antenna sends the received V2X message to the smart steering controller in the form of ethernet data.
And S511, the sensing module determines the simulation sensing data according to the test requirements sent by the test software and sends the simulation sensing data to the second controller.
Wherein simulating the sensory data comprises: obstacle information and a video stream of a traffic simulation scene. The sensing module may include an analog radar and an analog camera, and may also include other analog sensing modules, without limitation. The simulated radar is an ideal model, barrier information is obtained by simulating the distance, the size, the speed and the angle of surrounding barriers, and the barrier information is sent to the intelligent driving controller; the analog camera can obtain the video stream of the traffic simulation scene in a video injection simulation mode, and the video stream of the traffic simulation scene is injected into the intelligent driving controller.
Specifically, the sensing module determines simulated sensing data according to the test requirements sent by the test software, and sends the simulated sensing data to the second controller.
Illustratively, when the test requirement is collaborative vehicle formation management, simulating the distance, the size, the speed and the angle of surrounding obstacles by using a simulation radar in a sensing module to obtain 4 vehicles with traveling obstacle information; the video stream of the traffic simulation scene is obtained through a simulation mode of simulating camera video injection, the video stream of the alternate simulation scene is that 4 vehicles sequentially run on the same lane and a 5 th vehicle is inserted in front of a 3 rd vehicle, wherein obstacle information can be sent to the intelligent driving controller through a simulation radar, the simulation camera sequentially runs the 4 vehicles on the same lane and the 5 th vehicle is inserted in front of the 3 rd vehicle and is injected into the intelligent driving controller, namely, simulation sensing data are determined by the sensing module according to test requirements sent by test software, and then the simulation sensing data are sent to the intelligent driving controller.
In the embodiment of the invention, the simulation sensing data can be determined through the sensing module and sent to the second controller, so that the automatic test of the vehicle can be realized in a simulation mode, and the human resources are saved.
And S512, determining decision data by the second controller in a second scene according to the simulation sensing data, the simulation scene data and the simulation running track, and returning the decision data to the test software.
The decision data can be understood as management data for managing the driving state of the vehicle.
Specifically, the decision data may be determined by the second controller in the second scenario according to the simulation sensing data, the simulation scenario data, and the simulation running trajectory.
For example, the intelligent driving controller may receive sensing data sent by sensors such as a radar and a camera at the same time, determine that the 3 rd vehicle needs to run at a reduced speed according to the sensing data, obtain decision data, perform collaborative vehicle formation management, and need the 3 rd vehicle to run at a reduced speed, and return the decision data to the test software.
In the embodiment of the invention, the decision data is determined according to the simulation sensing data, the simulation scene data and the simulation running track in the second scene, so that the V2X and ADAS fusion scene test can be realized, manual test is not needed, and the human resources are saved.
S513, the test software determines a standard decision according to the simulation sensing data, the simulation scene data and the simulation running track.
The standard decision can be understood as standard management data for managing the driving state of the vehicle, which is determined in the test software.
Illustratively, the test software determines a standard decision to be coordinated vehicle formation management according to the simulation sensing data, the simulation scene data and the simulation running track, and needs a 3 rd vehicle to run at a reduced speed.
In the embodiment of the invention, the test software can determine the standard decision through the received simulation sensing data, the simulation scene data and the simulation running track, and the determination speed of the standard decision is favorably improved.
And S514, the test software determines whether the decision data are consistent with the standard decision, and if so, the test result is qualified.
And if the decision data are inconsistent with the standard decision, determining that the test result is unqualified.
For example, the test software determines that the decision data and the standard decision are that the 3 rd vehicle needs to run at a reduced speed, and the decision data and the standard decision are consistent, so that the test result of the intelligent driving controller is determined to be qualified.
Optionally, in some embodiments, the first controller is configured to control the vehicle to perform automatic early warning on the driving condition in the first scene; the second controller is used for controlling the vehicle to automatically make a decision on the driving condition in the second scene, so that the test speed of the vehicle test can be improved.
According to the technical scheme provided by the embodiment of the invention, the test software sends the test requirements to the scene simulation software and the signal generator, so that the scene simulation software and the signal generator can determine corresponding data according to the test requirements; furthermore, the first similarity of the early warning sequence contained in the early warning data and the early warning sequence contained in the standard early warning is determined through the test software, the test result of the vehicle test can be determined according to the comparison between the similarity and the preset value, and the determination speed of the test result is increased; the automatic vehicle test in the virtual scene is realized through the vehicle test under the condition of the fusion of the first scene and the second scene, the vehicle test is not required to be actually performed, the problem of the fusion simulation test system and the scheme loss is solved, the purpose of considering the automatic HIL test of the scene fusion test in the test scene is achieved, the V2X and ADAS fusion scene test is further realized, the manual test is not required, and the vehicle test efficiency is improved; in addition, the HIL test system is adopted, channel simulation is carried out through the radio communication comprehensive tester, compared with a pure simulation system, the authenticity is improved, the test system integrates all scenes of V2X, and an ADAS sensor is integrated, so that a real driving scene can be restored.
Fig. 6 is a schematic diagram of a vehicle testing system according to an embodiment of the present invention, and as shown in fig. 6, the system includes: test software 601, a test environment 602, a first controller 603 and a second controller 604 of the vehicle.
The test software 601 is configured to determine simulation scene data and a simulation operation trajectory according to a test requirement after a vehicle test is started, and send the simulation scene data and the simulation operation trajectory to the first controller 603.
The first controller 603 is configured to determine early warning data in a first scene and return the early warning data to the test software 601 when the test environment 602 formed by the simulation scene data and the simulation running track is determined to be the first scene, so that the test software 601 determines a test result of the first controller 603 according to the early warning data and a standard early warning corresponding to the simulation scene data and the simulation running track; when the test environment 602 formed by the simulation scene data and the simulation running track is determined to be the second scene, the simulation scene data and the simulation running track are sent to the second controller 604.
Alternatively, the first controller 603 may transmit the simulation scene data and the simulation trajectory to the second controller 604 in the form of ethernet data.
The second controller 604 is configured to determine decision data according to the simulated sensing data, the simulated scene data, and the simulated moving trajectory in the second scene, and return the decision data to the test software 601, so that the test software 601 determines a test result of the second controller 604 according to the decision data, and a standard decision corresponding to the simulated sensing data, the simulated scene data, and the simulated moving trajectory.
According to the vehicle test system provided by the embodiment of the invention, through vehicle test under the condition of fusion of the first scene and the second scene, the problem of fusion simulation test system and scheme loss is solved, the automatic HIL test considering the scene fusion test in the test scene is realized, the V2X and ADAS fusion scene test is further realized, and manual test is not needed.
Fig. 7 is a schematic diagram of another vehicle testing system according to an embodiment of the present invention, and as shown in fig. 7, the system includes: test software 701, a test environment 702, a first controller 703, a second controller 704 of a vehicle, scene simulation software 705, a signal generator 706, a communication module 707, and a sensing module 708.
The test software 701 is configured to determine simulation scene data and a simulation operation trajectory according to a test requirement after a vehicle test is started, and send the simulation scene data and the simulation operation trajectory to the first controller 703.
The first controller 703 is configured to, when it is determined that the test environment 702 formed by the simulation scene data and the simulation running track is a first scene, determine early warning data in the first scene, and return the early warning data to the test software 701, so that the test software 701 determines a test result of the first controller 703 according to the early warning data and a standard early warning corresponding to the simulation scene data and the simulation running track.
Optionally, the first controller 703 may further receive a GPS track or a time service instruction sent by the signal generator 706, so as to determine the scene type of the test environment 702.
And the second controller 704 is configured to determine decision data according to the simulation sensing data, the simulation scene data, and the simulation running track in the second scene, and return the decision data to the test software 701, so that the test software 701 determines a test result of the second controller 704 according to the decision data, and a standard decision corresponding to the simulation sensing data, the simulation scene data, and the simulation running track.
And the signal generator 706 is used for determining the simulation running track according to the test requirement.
Optionally, the signal generator 706 may also time-service the second communication unit in the communication module with the first controller, and store a GNSS file therein for determining the GPS running track of the vehicle under test.
Optionally, the signal generator 706 may also receive a programmed instruction for determining the time service.
The communication module 707 is configured to perform protocol conversion on the simulation scene data and the simulation running track, and send the converted simulation scene data and the converted simulation running track to the first controller 703.
The sensing module 708 is configured to determine simulated sensing data according to a test requirement sent by the test software 701 when it is determined that the test environment 702 formed by the simulated scene data and the simulated running track is the second scene, and send the simulated sensing data to the second controller 704.
According to the vehicle test system provided by the embodiment of the invention, through vehicle test under the condition of fusion of the first scene and the second scene, the problem of fusion simulation test system and scheme loss is solved, the automatic HIL test considering the scene fusion test in the test scene is realized, the V2X and ADAS fusion scene test is further realized, and manual test is not needed; in addition, the HIL test system is adopted, channel simulation is carried out through the radio communication comprehensive tester, compared with a pure simulation system, the authenticity is improved, the test system integrates all scenes of V2X, and an ADAS sensor is integrated, so that a real driving scene can be restored.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A vehicle testing method is applied to a vehicle testing system, wherein the vehicle testing system comprises testing software, a testing environment, a first controller and a second controller of a vehicle, and the method comprises the following steps:
after the test software starts a vehicle test, determining simulation scene data and a simulation operation track according to test requirements, and sending the simulation scene data and the simulation operation track to the first controller;
when the first controller determines that the test environment formed by the simulation scene data and the simulation running track is a first scene, early warning data is determined in the first scene and returned to the test software, so that the test software determines a test result of the first controller according to the early warning data and standard early warning corresponding to the simulation scene data and the simulation running track;
when the first controller determines that the test environment formed by the simulation scene data and the simulation running track is a second scene, the first controller sends the simulation scene data and the simulation running track to the second controller;
and the second controller determines decision data according to simulation sensing data, the simulation scene data and the simulation running track in the second scene, and returns the decision data to the test software, so that the test software determines a test result of the second controller according to the decision data and a standard decision corresponding to the simulation sensing data, the simulation scene data and the simulation running track.
2. The vehicle testing method according to claim 1, wherein the first controller is configured to control the vehicle to automatically warn of the driving condition in the first scenario; the second controller is used for controlling the vehicle to automatically make a decision on the driving condition in the second scene.
3. The vehicle testing method of claim 1, wherein the vehicle testing system further comprises: scene simulation software and a signal generator correspondingly determine simulation scene data and simulation operation tracks according to test requirements, and the method comprises the following steps:
the test software sends the test requirements to the scene simulation software and the signal generator;
the scene simulation software determines the simulation scene data according to the test requirement; wherein the simulation scene data comprises simulation vehicle data and simulation environment data;
and the signal generator determines the simulation running track according to the test requirement.
4. The vehicle testing method of claim 1, wherein the vehicle testing system further comprises: a communication module for sending the simulated scene data and the simulated trajectory to the first controller accordingly, comprising:
the test software sends the simulation scene data and the simulation running track to the communication module;
the communication module performs protocol conversion on the simulation scene data and the simulation operation track, and sends the converted simulation scene data and the converted simulation operation track to the first controller.
5. The vehicle testing method according to claim 4, wherein the communication module includes a first communication unit and a second communication unit, and accordingly, the communication module performs protocol conversion on the simulation scenario data and the simulation operation trajectory, and transmits the converted simulation scenario data and the converted simulation operation trajectory to the first controller, and the method includes:
the first communication unit performs protocol conversion on the simulation scene data and the simulation operation track to obtain the converted simulation scene data and the converted simulation operation track;
and the second communication unit sends the converted simulation scene data and the simulation running track to the first controller.
6. The vehicle testing method according to claim 1, before the testing software determines the testing result of the first controller according to the early warning data and the standard early warning corresponding to the simulation scene data and the simulation running track, further comprising:
the test software determines the standard early warning according to the simulation scene data and the simulation running track; wherein the standard early warning comprises an early warning sequence in the first scene;
correspondingly, the test software determines the test result of the first controller according to the early warning data, the simulation scene data and the standard early warning corresponding to the simulation operation track, and the method comprises the following steps:
and the testing software determines the first similarity of the early warning sequence contained in the early warning data and the early warning sequence contained in the standard early warning, and if the similarity is greater than a preset value, the testing result is determined to be qualified.
7. The vehicle testing method of claim 1, wherein the vehicle testing system further comprises: the sensing module, correspondingly, before the second controller determines decision data according to the simulated sensing data, the simulated scene data and the simulated moving trajectory in the second scene, further includes:
and the sensing module determines the simulation sensing data according to the test requirement sent by the test software and sends the simulation sensing data to the second controller.
8. The vehicle testing method according to claim 1, before the testing software determines the testing result of the second controller according to the decision data and the standard decision corresponding to the simulated sensing data, the simulated scene data and the simulated running track, further comprising:
the test software determines the standard decision according to the simulation sensing data, the simulation scene data and the simulation running track;
correspondingly, the determining, by the testing software, the test result of the second controller according to the decision data and the standard decision corresponding to the simulation sensing data, the simulation scene data and the simulation running track includes:
the test software determining whether the decision data is consistent with the standard decision;
and if the decision data is consistent with the standard decision, determining that the test result is qualified.
9. A vehicle testing system, comprising: test software, a test environment, a first controller and a second controller of a vehicle, wherein the test software is configured to: after a vehicle test is started, determining simulation scene data and a simulation operation track according to test requirements, and sending the simulation scene data and the simulation operation track to the first controller; the first controller is to: when the test environment formed by the simulation scene data and the simulation operation track is determined to be a first scene, early warning data is determined in the first scene, and the early warning data is returned to the test software, so that the test software determines a test result of the first controller according to the early warning data and standard early warnings corresponding to the simulation scene data and the simulation operation track; when the test environment formed by the simulation scene data and the simulation running track is determined to be a second scene, the simulation scene data and the simulation running track are sent to the second controller; the second controller is to: and determining decision data according to the simulation sensing data, the simulation scene data and the simulation running track in the second scene, and returning the decision data to the test software, so that the test software determines a test result of the second controller according to the decision data, the simulation sensing data, the simulation scene data and a standard decision corresponding to the simulation running track.
10. The vehicle testing system of claim 8, further comprising: scene simulation software and a signal generator, the scene simulation software being configured to: determining the simulation scene data according to the test requirement; wherein the simulation scene data comprises simulation vehicle data and simulation environment data; the signal generator is configured to: and determining the simulation running track according to the test requirement.
11. The vehicle testing system of claim 8, further comprising: a communication module to: and carrying out protocol conversion on the simulation scene data and the simulation operation track, and sending the converted simulation scene data and the converted simulation operation track to the first controller.
12. The vehicle testing system of claim 8, further comprising: a sensing module to: and determining the simulation sensing data according to the test requirement sent by the test software, and sending the simulation sensing data to the second controller.
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