CN115576296A - Vehicle in-loop test system, method and device and storage medium - Google Patents
Vehicle in-loop test system, method and device and storage medium Download PDFInfo
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- CN115576296A CN115576296A CN202211141440.XA CN202211141440A CN115576296A CN 115576296 A CN115576296 A CN 115576296A CN 202211141440 A CN202211141440 A CN 202211141440A CN 115576296 A CN115576296 A CN 115576296A
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
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Abstract
The application discloses a whole vehicle in-loop test system, a method and a device, wherein the system comprises: the vehicle simulation system comprises a test vehicle and vehicle simulation equipment, wherein the test vehicle is in wireless connection with the vehicle simulation equipment through a 5G network, and a virtual vehicle and a virtual test scene corresponding to the test vehicle are pre-constructed in the vehicle simulation equipment; the test vehicle runs in a real test scene and is used for sending vehicle dynamic data of the test vehicle to the vehicle simulation equipment; the vehicle simulation equipment is used for simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle; the test vehicle is further used for receiving the simulation control data from the vehicle simulation equipment and performing vehicle control based on the simulation control data.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a method and a device for testing a whole vehicle in a loop, a storage medium and computer equipment.
Background
In recent years, with the rapid development of the artificial intelligence industry, unmanned technology has also become a focus of global attention, unmanned requirements are defined from a V model development process to vehicle mass production, and a complete vehicle loop-in-loop test (VIL) is a crucial loop before mass production. The current scheme of the whole vehicle in the ring comprises the following steps: the field whole vehicle in-loop test and the laboratory whole vehicle in-loop test have the following disadvantages respectively: for a field whole vehicle in-loop environment, a scene virtual system is very huge for vividly simulating a physical world, and is difficult to install on a tested vehicle due to the limitations of size, power, weight and the like. Even if the simulation system is installed on a vehicle reluctantly, the electric energy load and the weight of the tested vehicle are increased, the reliability of simulation system hardware is reduced due to vibration, impact and the like of the vehicle in operation, and meanwhile, the simulation system hardware is difficult to analyze and monitor on line in the test process. For the whole laboratory vehicle in-loop, the whole laboratory vehicle in-loop system is complex and indoor, a shaft coupling dynamometer and positioning and steering system, road load and ESP combined sensor simulation are added, the assembly and disassembly convenience is not good, and the ground falling is not facilitated. Therefore, how to reduce the test cost while improving the accuracy of the ring test of the whole vehicle becomes a problem which needs to be solved urgently.
Disclosure of Invention
In view of this, the present application provides a system, a method, a device and a storage medium for in-loop testing of a finished automobile, which is helpful for improving the accuracy of in-loop testing of the finished automobile and reducing the testing cost.
According to an aspect of the present application, there is provided a vehicle-in-the-loop test system, the system including:
the vehicle simulation system comprises a test vehicle and vehicle simulation equipment, wherein the test vehicle is in wireless connection with the vehicle simulation equipment through a 5G network, and a virtual vehicle and a virtual test scene corresponding to the test vehicle are pre-constructed in the vehicle simulation equipment;
the test vehicle runs in a real test scene and is used for sending vehicle dynamic data of the test vehicle to the vehicle simulation equipment;
the vehicle simulation equipment is used for simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle;
the test vehicle is further used for receiving the simulation control data from the vehicle simulation equipment and performing vehicle control based on the simulation control data.
Optionally, the vehicle simulation device includes a scene simulation module and a first domain controller, and the virtual vehicle and the virtual test scene are built in the scene simulation module;
the scene simulation module is used for receiving the vehicle dynamic data sent by the test vehicle and simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data;
the first domain controller is used for carrying out control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle;
the test vehicle comprises a second domain controller, and the second domain controller is used for receiving simulation control data sent by the first domain controller through a 5G network and controlling the vehicle based on the simulation control data.
Optionally, a perception fusion algorithm determined according to test requirements is stored in the first domain controller, and the first domain controller performs control simulation on the test vehicle by using the perception fusion algorithm based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle.
Optionally, a virtual sensor is disposed on the virtual vehicle, the virtual sensor collects virtual test scenario data when the virtual vehicle runs in the virtual test scenario, and the scenario simulation module sends the virtual test scenario data to the first domain controller.
Optionally, the second domain controller is connected to an automatic driving control system of the test vehicle, and the second domain controller is configured to transmit the simulation control data to the automatic driving control system, so that the automatic driving control system performs automatic driving control based on the simulation control data.
According to another aspect of the present application, there is provided a complete vehicle in-loop testing method applied to the vehicle simulation device in the complete vehicle in-loop testing system as described above, the method includes:
receiving vehicle dynamic data collected by a test vehicle in the running process of a real test scene;
simulating the running state of a virtual vehicle in a virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle;
and sending the simulation control data to the test vehicle so as to enable the test vehicle to perform vehicle control based on the received simulation control data.
Optionally, the vehicle simulation apparatus includes a scenario simulation module and a first domain controller, the virtual vehicle and the virtual test scenario are built in the scenario simulation module, and the test vehicle includes a second domain controller;
the simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain the simulation control data of the test vehicle, includes:
the scene simulation module receives the vehicle dynamic data sent by the test vehicle and simulates the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data;
the first domain controller carries out control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle;
the sending the simulated control data to the test vehicle comprises:
and the first domain controller sends simulation control data to the second domain controller through a 5G network.
Optionally, a perception fusion algorithm determined according to a test requirement is stored in the first domain controller;
the first domain controller performs control simulation on the test vehicle based on the virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle, and the method comprises the following steps:
and the first domain controller performs control simulation on the test vehicle by using the perception fusion algorithm based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle.
Optionally, a virtual sensor is disposed on the virtual vehicle;
the first domain controller performs control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data, and before obtaining simulation control data of the test vehicle, the method further includes:
the scene simulation module acquires virtual test scene data based on the virtual perception sensor when the virtual vehicle runs in the virtual test scene, and sends the virtual test scene data to the first domain controller.
Optionally, the second domain controller is connected with an automatic driving control system of the test vehicle; and the second domain controller transmits the simulation control data to the automatic driving control system so that the automatic driving control system performs automatic driving control based on the simulation control data.
According to another aspect of the present application, there is provided a complete vehicle in-loop testing apparatus, the apparatus including:
the receiving unit is used for receiving vehicle dynamic data collected by a test vehicle in the running process of a real test scene;
the simulation unit is used for simulating the running state of a virtual vehicle in a virtual test scene based on the vehicle dynamic data and carrying out control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle;
and the transmitting unit is used for transmitting the simulation control data to the test vehicle so as to enable the test vehicle to carry out vehicle control based on the received simulation control data.
Optionally, the virtual vehicle and the virtual test scenario are constructed in the scenario simulation module, and the test vehicle includes a second domain controller;
the simulation unit is further configured to:
receiving the vehicle dynamic data sent by the test vehicle through the scene simulation module, and simulating the driving state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data;
the first domain controller carries out control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle;
the sending unit is further configured to:
and sending simulation control data to the second domain controller through the 5G network by the first domain controller.
Optionally, a perception fusion algorithm determined according to a test requirement is stored in the first domain controller;
the simulation unit is further configured to perform control simulation on the test vehicle through the first domain controller by using the perception fusion algorithm based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle.
Optionally, a virtual sensor is disposed on the virtual vehicle;
the simulation unit is further configured to: the method comprises the steps of acquiring virtual test scene data through the scene simulation module based on the virtual perception sensor when the virtual vehicle runs in the virtual test scene, and sending the virtual test scene data to the first domain controller.
Optionally, the second domain controller is connected with an automatic driving control system of the test vehicle; and the second domain controller transmits the simulation control data to the automatic driving control system so that the automatic driving control system performs automatic driving control based on the simulation control data.
According to yet another aspect of the present application, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described full vehicle in-loop testing method.
According to still another aspect of the present application, a computer device is provided, which includes a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the vehicle-in-loop testing method when executing the program.
By means of the technical scheme, compared with the mode of the field whole vehicle in-loop test and the laboratory whole vehicle in-loop test in the prior art, the whole vehicle in-loop test system, the method and the device, the storage medium and the computer equipment reduce the influence of electric energy load, weight, vibration and field size limitation, improve the precision of the whole vehicle in-loop test and reduce the test cost.
The above description is only an overview of the technical solutions of the present application, and the present application may be implemented in accordance with the content of the description so as to make the technical means of the present application more clearly understood, and the detailed description of the present application will be given below in order to make the above and other objects, features, and advantages of the present application more clearly understood.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 shows a schematic structural diagram of a vehicle on-vehicle environment measurement system provided in the embodiment of the present application;
fig. 2 shows a schematic flow chart of a whole vehicle in-loop testing method provided in the embodiment of the present application;
fig. 3 shows a schematic flow chart of another vehicle-in-vehicle loop testing method provided in the embodiment of the present application;
fig. 4 shows a schematic structural diagram of an entire vehicle on-loop testing device provided in an embodiment of the present application.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In this embodiment, a vehicle in-loop test system is provided, as shown in fig. 1, the system includes: the vehicle simulation system comprises a test vehicle and vehicle simulation equipment, wherein the test vehicle is in wireless connection with the vehicle simulation equipment through a 5G network, and a virtual vehicle and a virtual test scene corresponding to the test vehicle are pre-constructed in the vehicle simulation equipment; the test vehicle runs in a real test scene and is used for sending vehicle dynamic data of the test vehicle to the vehicle simulation equipment; the vehicle simulation equipment is used for simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle; the test vehicle is also used for receiving the simulation control data from the vehicle simulation equipment and controlling the vehicle based on the simulation control data.
The embodiment of the application can be applied to the ring detection of the whole vehicle of various vehicle types and is used for detecting various functions of the detected vehicle. The method comprises the steps that a whole vehicle in-loop test system is divided into an indoor part and an outdoor part, vehicle simulation equipment is arranged in the indoor part, a test vehicle is arranged in the outdoor part, and virtual vehicles and virtual test scenes corresponding to the test vehicle are constructed in the indoor vehicle simulation equipment in advance; the test vehicle is placed in an outdoor open place or an actual operation place, the test vehicle runs in a real test scene as an example in the embodiment, the test vehicle runs on a real road, the test vehicle is connected with indoor vehicle simulation equipment through 5G network wireless, vehicle dynamic information of the test vehicle is sent to the vehicle simulation equipment, and the vehicle dynamic information is output by vehicle-mounted inertial navigation: position, velocity, acceleration, etc.; the vehicle simulation equipment receives dynamic data of the vehicle, the virtual vehicle carries out running state simulation according to the dynamic data of the vehicle in a virtual test scene, and the virtual vehicle and the real vehicle keep the same running state. The virtual test scene contains various road condition information which is constructed in advance, for example, a pedestrian suddenly appears in front when the virtual vehicle is found in the driving process of the virtual test scene, if a driver encounters the situation and can avoid colliding with the pedestrian in a sudden braking mode, the vehicle simulation equipment can combine the road condition information in the virtual test scene with the driving position, speed and the like of the virtual vehicle in the virtual test scene to generate simulation control data, and the simulation control data is control data which indicates the sudden braking of the vehicle, generates the simulation control data and sends the simulation control data to the test vehicle. After receiving the simulation control data, the test vehicle drives according to the simulation control data, such as sudden braking, so as to achieve the effect of testing the real vehicle by using the virtual test scene, and the dynamic information of the vehicle generated by the real test vehicle is continuously transmitted to the vehicle simulation equipment in real time, thereby completing the closed-loop real-time simulation of the whole test system. In fig. 1, the solid line is a hard-wired connection, and the dotted line is a 5G network wireless connection.
By applying the technical scheme of the embodiment, the vehicle simulation equipment is arranged indoors, the test vehicle is arranged outdoors, and the 5G closed-loop real-time simulation system is constructed, so that the influence of electric energy load, weight, vibration and site size limitation on the test result is reduced, the accuracy of the whole vehicle in-loop test is improved, and the test cost is reduced.
Optionally, the vehicle simulation device includes a scene simulation module and a first domain controller, and the virtual vehicle and the virtual test scene are built in the scene simulation module; the scene simulation module is used for receiving the vehicle dynamic data sent by the test vehicle and simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data; the first domain controller is used for carrying out control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle; the test vehicle comprises a second domain controller, and the second domain controller is used for receiving simulation control data sent by the first domain controller through a 5G network and controlling the vehicle based on the simulation control data.
In the embodiment of the application, the vehicle simulation equipment comprises a scene simulation module and a first domain controller, wherein the scene simulation module constructs a virtual vehicle and a virtual test scene in the scene simulation module by acquiring vehicle dynamic data and virtual test scene data; the scene simulation module receives vehicle dynamic data sent by the test vehicle and simulates the test vehicle according to the vehicle dynamic data by the virtual vehicle in the virtual test scene; the first domain controller carries out control simulation on the test vehicle based on the virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle; the test vehicle comprises a second domain controller, the second domain controller receives the simulation control data sent by the first domain controller 5G network and controls the test vehicle, for example, the second domain controller receives the simulation control data sent by the first domain controller 5G network as acceleration data, and the test vehicle runs according to the acceleration data; the test vehicle is provided with a vehicle gauge grade 5G vehicle-mounted terminal as a gateway, and the low time delay of 5G ensures the timeliness of data transmission, so that the position of the test vehicle in the virtual test scene is ensured to be updated in real time; testing high-performance integrated navigation installed on a vehicle to provide centimeter-level positioning for the vehicle, and accessing the position, the speed and the acceleration of the vehicle to a gateway through a CAN signal; the physical distance limitation and poor portability defect are eliminated through the 5G wireless network.
Optionally, a perception fusion algorithm determined according to test requirements is stored in the first domain controller, and the first domain controller performs control simulation on the test vehicle by using the perception fusion algorithm based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle.
In the embodiment of the application, a perception fusion algorithm determined according to the test requirement is stored in the first domain controller, the perception fusion algorithm can fuse the virtual test scene data and the vehicle dynamic data to generate simulation control data, the first controller receives the virtual test scene data and the vehicle dynamic data of the test vehicle, the perception fusion algorithm is operated to obtain the simulation control data of the test vehicle, and the control simulation is carried out on the test vehicle.
Optionally, a virtual sensor is disposed on the virtual vehicle, the virtual sensor collects virtual test scenario data when the virtual vehicle runs in the virtual test scenario, and the scenario simulation module sends the virtual test scenario data to the first domain controller.
In the embodiment of the application, the virtual sensor is arranged on the virtual simulation vehicle, the virtual sensor collects virtual test scene data around the virtual vehicle in real time, road conditions around the virtual vehicle in the virtual test scene are found, the scene simulation module sends the virtual test scene data to the first domain controller, and the first domain controller combines the dynamic data of the vehicle and the data collected by the virtual sensor to perform control simulation on the vehicle.
Optionally, the second domain controller is connected to an automatic driving control system of the test vehicle, and the second domain controller is configured to transmit the simulation control data to the automatic driving control system, so that the automatic driving control system performs automatic driving control based on the simulation control data.
In the embodiment of the application, the second domain controller is connected with an automatic driving control system of the test vehicle, the second domain controller sends simulation control data to the automatic driving control system, the automatic driving control system runs a planning control algorithm, and automatic driving control is carried out on the test vehicle according to a planning control result.
Further, fig. 2 is a flowchart of a vehicle in-loop testing method provided in the embodiment of the present application, and as shown in fig. 2, the method includes:
202, simulating the running state of a virtual vehicle in a virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle;
In the embodiment of the application, the vehicle simulation equipment receives the vehicle dynamic data of the test vehicle in real time, simulates the virtual vehicle according to the vehicle dynamic data in a virtual test scene, controls and simulates the vehicle to obtain the simulation control data of the test vehicle, and sends the simulation control data to the test vehicle to control the test vehicle.
Optionally, the vehicle simulation apparatus includes a scene simulation module and a first domain controller, the virtual vehicle and the virtual test scene are built in the scene simulation module, and the test vehicle includes a second domain controller; step 202 comprises: the scene simulation module receives the vehicle dynamic data sent by the test vehicle and simulates the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data; the first domain controller performs control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle; step 203 comprises: and the first domain controller sends simulation control data to the second domain controller through a 5G network.
In the embodiment of the application, the vehicle simulation equipment comprises a scene simulation module and a first domain controller, wherein a virtual vehicle and a virtual test scene are pre-constructed in the scene simulation module, the test vehicle comprises a second domain controller, and the first domain controller is connected with the second domain controller through a 5G network; the scene simulation module simulates the running state of the virtual vehicle in the virtual test scene according to the vehicle dynamic data, controls and simulates the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle, and the first domain controller sends the simulation control data to the test vehicle.
Optionally, a perception fusion algorithm determined according to a test requirement is stored in the first domain controller; the first domain controller performs control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle, and the first domain controller performs control simulation on the test vehicle based on the virtual test scene data and the vehicle dynamic data by using the perception fusion algorithm to obtain the simulation control data of the test vehicle.
In the embodiment of the application, a perception fusion algorithm determined according to the test requirement is stored in the first domain controller, the perception fusion algorithm can fuse the virtual test scene data and the vehicle dynamic data to generate simulation control data, the first controller receives the virtual test scene data and the vehicle dynamic data of the test vehicle, the perception fusion algorithm is operated to obtain the simulation control data of the test vehicle, and the control simulation is carried out on the test vehicle.
Optionally, a virtual perception sensor is arranged on the virtual vehicle; the first domain controller performs control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data, and before simulation control data of the test vehicle are obtained, the scene simulation module acquires the virtual test scene data based on the virtual perception sensor when the virtual vehicle runs in the virtual test scene, and sends the virtual test scene data to the first domain controller.
In the embodiment of the application, a virtual sensor is arranged on the virtual simulation vehicle, the virtual sensor collects virtual test scene data around the virtual vehicle in real time, the virtual sensor senses that a roadblock exists in front of the virtual vehicle, and a scene simulation module sends the data of the roadblock in front of the vehicle to the first domain controller.
Optionally, the second domain controller is connected with an automatic driving control system of the test vehicle; and the second domain controller transmits the simulation control data to the automatic driving control system so that the automatic driving control system performs automatic driving control based on the simulation control data.
In the embodiment of the application, the second domain controller is connected with an automatic driving control system of the test vehicle, the second domain controller sends simulation control data to the automatic driving control system, the automatic driving control system runs a planning control algorithm, and automatic driving control is carried out on the test vehicle according to a planning control result.
Further, fig. 3 is a flowchart of another method for testing a whole vehicle in a loop test provided in an embodiment of the present application, and as shown in fig. 3, the method is applied to a vehicle simulation device in a system for testing a whole vehicle in a loop test, where the vehicle simulation device includes a scene simulation module and a first domain controller, a virtual vehicle and a virtual test scene are established in the scene simulation module, and the test vehicle includes a second domain controller, where the method includes:
303, performing control simulation on the test vehicle by the first domain controller by using a perception fusion algorithm based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle, wherein the perception fusion algorithm determined according to test requirements is stored in the first domain controller;
in the embodiment of the application, a scene simulation module receives vehicle dynamic data sent by a test vehicle in real time, and simulates the running state of a virtual vehicle in a virtual test scene according to the vehicle dynamic data, so that the form states of the virtual vehicle and the test vehicle are synchronous; the virtual vehicle is provided with a virtual sensor, the virtual sensor acquires running state information of the virtual vehicle in a virtual test scene, such as states of acceleration, braking and the like, the scene simulation module acquires virtual test scene data when the virtual vehicle runs in the virtual test scene through the virtual sensor and sends the virtual test scene data to the first domain controller, and the virtual sensor acquires state data of acceleration, braking and the like in the virtual test scene and sends the state data of acceleration, braking and the like in the virtual test scene to the first domain controller; the first domain controller stores a perception fusion algorithm determined according to test requirements, the perception fusion algorithm can fuse virtual test scene data with vehicle dynamic data to generate simulation control data, the first controller receives the virtual test scene data and the vehicle dynamic data of a test vehicle, the perception fusion algorithm is operated to obtain the simulation control data of the test vehicle, and control simulation is carried out on the test vehicle.
a step 305; and the second domain controller transmits the simulation control data to an automatic driving control system so that the automatic driving control system performs automatic driving control based on the simulation control data, and is connected with the automatic driving control system of the test vehicle.
In the embodiment of the application, data are transmitted between the first domain controller and the second domain controller through the 5G network, the first domain controller sends simulation control data to the second domain controller through the 5G network, the second domain controller is connected with an automatic driving control system of a test vehicle, the second domain controller sends the simulation control data to the automatic driving control system, and the automatic driving control system runs a planning control algorithm and carries out automatic driving control on the test vehicle according to a planning control result.
By applying the technical scheme of the embodiment, the vehicle simulation equipment is arranged in a laboratory, the influence of external factors on a test result is reduced, real-time data transmission is realized through a 5G network, and the accuracy of the finished vehicle test is improved.
Further, as a specific implementation of the method in fig. 2 to fig. 3, an embodiment of the present application provides a complete vehicle in-loop testing apparatus, as shown in fig. 4, the apparatus includes:
the receiving unit is used for receiving vehicle dynamic data acquired by a test vehicle in the running process of a real test scene;
the simulation unit is used for simulating the running state of a virtual vehicle in a virtual test scene based on the vehicle dynamic data and carrying out control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle;
and the transmitting unit is used for transmitting the simulation control data to the test vehicle so as to enable the test vehicle to carry out vehicle control based on the received simulation control data.
Optionally, a scene simulation module and a first domain controller, the virtual vehicle and the virtual test scene are built in the scene simulation module, and the test vehicle includes a second domain controller;
the simulation unit is further configured to:
receiving the vehicle dynamic data sent by the test vehicle through the scene simulation module, and simulating the driving state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data;
the first domain controller performs control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle;
the sending unit is further configured to:
and sending simulation control data to the second domain controller through the 5G network by the first domain controller.
Optionally, a perception fusion algorithm determined according to a test requirement is stored in the first domain controller;
the simulation unit is further configured to perform control simulation on the test vehicle through the first domain controller by using the perception fusion algorithm based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle.
Optionally, a virtual perception sensor is arranged on the virtual vehicle;
the simulation unit is further configured to: the method comprises the steps of acquiring virtual test scene data through the scene simulation module based on the virtual perception sensor when the virtual vehicle runs in the virtual test scene, and sending the virtual test scene data to the first domain controller.
Optionally, the second domain controller is connected with an automatic driving control system of the test vehicle; and the second domain controller transmits the simulation control data to the automatic driving control system so that the automatic driving control system performs automatic driving control based on the simulation control data.
It should be noted that other corresponding descriptions of the functional units related to the vehicle-in-vehicle loop testing method provided in the embodiment of the present application may refer to the corresponding descriptions in the system in fig. 1, and are not described herein again.
Based on the system shown in fig. 1 and the method shown in fig. 2 to 3, correspondingly, the embodiment of the present application further provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the system and the method for testing the vehicle in the environment shown in fig. 1 to 3.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, or the like), and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, or the like) to execute the method described in the implementation scenarios of the present application.
Based on the system shown in fig. 1, the method shown in fig. 2 to fig. 3, and the virtual device embodiment shown in fig. 4, in order to achieve the foregoing object, the present application further provides a computer device, which may specifically be a personal computer, a server, a network device, and the like, where the computer device includes a storage medium and a processor; a storage medium for storing a computer program; a processor for executing a computer program to implement the vehicle-in-the-loop testing system and method shown in fig. 1 to 3.
Optionally, the computer device may further include a user interface, a network interface, a camera, radio Frequency (RF) circuitry, sensors, audio circuitry, a WI-FI module, and so forth. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., a bluetooth interface, a WI-FI interface), etc.
It will be appreciated by those skilled in the art that the present embodiment provides a computer device structure that is not limited to the computer device, and may include more or less components, or some components in combination, or a different arrangement of components.
The storage medium may further include an operating system and a network communication module. An operating system is a program that manages and maintains the hardware and software resources of a computer device, supporting the operation of information handling programs, as well as other software and/or programs. The network communication module is used for realizing communication among components in the storage medium and other hardware and software in the entity device.
Through the description of the above embodiment, those skilled in the art can clearly understand that the present application can be implemented by software plus a necessary general hardware platform, and can also receive vehicle dynamic data collected by a test vehicle in the driving process of a real test scene through hardware implementation; simulating the running state of a virtual vehicle in a virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle; and sending the simulation control data to the test vehicle so as to enable the test vehicle to perform vehicle control based on the received simulation control data. Compared with the mode that the whole vehicle in the field is subjected to the ring test and the whole vehicle in the laboratory is subjected to the ring test in the prior art, the embodiment of the application reduces the influence of electric energy load, weight, vibration and field size limitation, and improves the precision of the whole vehicle in the ring test and reduces the test cost.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
Claims (10)
1. The utility model provides a whole car is at ring test system which characterized in that, the system includes:
the vehicle simulation system comprises a test vehicle and vehicle simulation equipment, wherein the test vehicle is in wireless connection with the vehicle simulation equipment through a 5G network, and a virtual vehicle and a virtual test scene corresponding to the test vehicle are pre-constructed in the vehicle simulation equipment;
the test vehicle runs in a real test scene and is used for sending vehicle dynamic data of the test vehicle to the vehicle simulation equipment;
the vehicle simulation equipment is used for simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle;
the test vehicle is further used for receiving the simulation control data from the vehicle simulation equipment and performing vehicle control based on the simulation control data.
2. The system of claim 1,
the vehicle simulation equipment comprises a scene simulation module and a first domain controller, wherein the virtual vehicle and the virtual test scene are constructed in the scene simulation module;
the scene simulation module is used for receiving the vehicle dynamic data sent by the test vehicle and simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data;
the first domain controller is used for carrying out control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle;
the test vehicle comprises a second domain controller, and the second domain controller is used for receiving simulation control data sent by the first domain controller through a 5G network and controlling the vehicle based on the simulation control data.
3. The system of claim 2,
the first domain controller stores a perception fusion algorithm determined according to test requirements, and performs control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data by using the perception fusion algorithm to obtain simulation control data of the test vehicle.
4. The system of claim 2,
the virtual vehicle is provided with a virtual perception sensor, the virtual perception sensor collects virtual test scene data when the virtual vehicle runs in the virtual test scene, and the scene simulation module sends the virtual test scene data to the first domain controller.
5. The system according to any one of claims 1 to 4,
the second domain controller is connected with an automatic driving control system of the test vehicle, and the second domain controller is used for transmitting the simulation control data to the automatic driving control system so that the automatic driving control system performs automatic driving control based on the simulation control data.
6. A whole vehicle in-loop testing method applied to the vehicle simulation device in the whole vehicle in-loop testing system according to any one of claims 1 to 5, the method comprising:
receiving vehicle dynamic data collected by a test vehicle in the running process of a real test scene;
simulating the running state of a virtual vehicle in a virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle;
and sending the simulation control data to the test vehicle so as to enable the test vehicle to perform vehicle control based on the received simulation control data.
7. The method of claim 6, wherein the vehicle simulation device comprises a scenario simulation module and a first domain controller, the virtual vehicle and the virtual test scenario are built in the scenario simulation module, and the test vehicle comprises a second domain controller;
the simulating the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data, and performing control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain the simulation control data of the test vehicle, includes:
the scene simulation module receives the vehicle dynamic data sent by the test vehicle and simulates the running state of the virtual vehicle in the virtual test scene based on the vehicle dynamic data;
the first domain controller performs control simulation on the test vehicle based on virtual test scene data and the vehicle dynamic data to obtain simulation control data of the test vehicle;
the sending the simulated control data to the test vehicle comprises:
and the first domain controller sends simulation control data to the second domain controller through a 5G network.
8. The utility model provides a whole car is at ring testing arrangement which characterized in that, the device includes:
the receiving unit is used for receiving vehicle dynamic data collected by a test vehicle in the running process of a real test scene;
the simulation unit is used for simulating the running state of a virtual vehicle in a virtual test scene based on the vehicle dynamic data and carrying out control simulation on the test vehicle in the process that the virtual vehicle runs in the virtual test scene to obtain simulation control data of the test vehicle;
and the transmitting unit is used for transmitting the simulation control data to the test vehicle so as to enable the test vehicle to carry out vehicle control based on the received simulation control data.
9. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method for vehicle in-loop testing according to any of claims 6 to 7.
10. A computer device comprising a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the method for vehicle-in-loop testing according to any one of claims 6 to 7 when executing the computer program.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117970906A (en) * | 2024-03-28 | 2024-05-03 | 深圳市卓驭科技有限公司 | Automatic driving system testing method, system, computer device, storage medium and program product |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117970906A (en) * | 2024-03-28 | 2024-05-03 | 深圳市卓驭科技有限公司 | Automatic driving system testing method, system, computer device, storage medium and program product |
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