CN115616936A - Simulation test method, device and equipment for vehicle - Google Patents
Simulation test method, device and equipment for vehicle Download PDFInfo
- Publication number
- CN115616936A CN115616936A CN202211395946.3A CN202211395946A CN115616936A CN 115616936 A CN115616936 A CN 115616936A CN 202211395946 A CN202211395946 A CN 202211395946A CN 115616936 A CN115616936 A CN 115616936A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- simulation
- driving
- model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The application provides a simulation test method, a simulation test device and simulation test equipment for a vehicle, and relates to the field of intelligent driving. The method comprises the following steps: performing initial driving simulation processing on the vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents driving information of the vehicle model in the preset simulation scene; carrying out data conversion processing on the vehicle information to generate message data corresponding to the vehicle information; the message data is subjected to logic calculation processing, a control instruction is output, and the vehicle model is subjected to simulated motion control based on the control instruction, so that the complexity of model construction is reduced, the construction of a hardware platform is reduced, and the whole vehicle simulation test on the vehicle can be quickly and accurately realized on one terminal device.
Description
Technical Field
The application relates to the field of intelligent driving, in particular to a simulation test method, a simulation test device and simulation test equipment for vehicles.
Background
In the field of intelligent driving, the overall architecture for realizing intelligent driving is complex, and the updating iteration speed of algorithm software is high, so that the comprehensive and efficient simulation test method is particularly important.
In the prior art, a Hardware-in-the-Loop (HIL) simulation test method is adopted to construct a Hardware and software model close to an actual vehicle state, and carry out simulation test on intelligent driving of a vehicle.
However, in the prior art, the hardware-in-loop simulation test method has high requirements on hardware equipment, and the model building is complex, so that quick and accurate simulation can not be realized.
Disclosure of Invention
The application provides a simulation test method, a simulation test device and simulation test equipment for a vehicle, which are used for solving the problem that the simulation of the vehicle cannot be quickly and accurately realized.
In a first aspect, the present application provides a simulation test method for a vehicle, where the method is applied to a terminal device, and the method includes:
initializing driving simulation processing on a vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scene;
performing data conversion processing on the vehicle information to generate message data corresponding to the vehicle information;
and integrating a package based on the operated domain controller software, performing logic calculation processing on the message data, outputting a control instruction, and performing simulated motion control on the vehicle model based on the control instruction.
In an optional implementation manner, the preset simulation test scenario includes a road scenario and a traffic flow scenario where the vehicle model is located; a sensor model is arranged in the vehicle model; the vehicle information comprises driving perception information of the vehicle model in the preset simulation scene and driving parameter information of the vehicle model; carrying out initial driving simulation processing on a vehicle model in a preset simulation scene to generate vehicle information, wherein the method comprises the following steps:
controlling the vehicle model to carry out initialization driving simulation processing in the road scene and the traffic flow scene according to preset initialization parameters;
and determining driving perception information perceived by the sensor model in the initialized driving simulation process, and determining driving parameter information of the vehicle model in the initialized driving simulation process.
In an optional implementation manner, performing data conversion processing on the vehicle information to generate message data corresponding to the vehicle information includes:
acquiring the driving perception information and the driving parameter information based on a preset application program interface;
and performing message conversion processing on the driving perception information and the driving parameter information based on a preset model to generate message data corresponding to the vehicle information.
In an optional embodiment, the driving perception information includes one or more of the following: road information, obstacle information, traffic identification information;
the driving parameter information comprises vehicle running speed information and/or vehicle braking information.
In an optional embodiment, the integrating, into a packet, based on a domain controller software running, performing logical computation processing on the message data, and outputting a control instruction includes:
and the domain controller software integration package which is scheduled to run performs logic calculation on the message data according to a logic algorithm integrated in the domain controller software integration package, and generates and outputs the control instruction.
In an optional implementation manner, the terminal device is configured with a virtual system, and an open source application container engine is installed in the virtual system, and the open source application container engine is configured to store an image file on which the domain controller software integration package depends when running, and run the domain controller software integration package.
In an optional embodiment, the method further comprises:
and receiving a user instruction based on a preset human-computer interaction interface, wherein the user instruction is used for controlling the domain controller software integration package to open or close the functional module in the logic algorithm, and the functional module is used for realizing the intelligent driving function of the vehicle.
In an optional embodiment, the method further comprises:
determining the function information of the logic algorithm according to the vehicle information after the vehicle model executes the control command;
and optimizing the logic algorithm according to the function information.
In a second aspect, the present application provides a simulation test apparatus for a vehicle, the apparatus being applied to a terminal device, the apparatus including:
the simulation unit is used for carrying out initial driving simulation processing on a vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents driving information of the vehicle model in the preset simulation scene;
the data conversion unit is used for performing data conversion processing on the vehicle information and generating message data corresponding to the vehicle information;
and the control unit is used for integrating a package based on the operated domain controller software, performing logic calculation processing on the message data, outputting a control instruction, and performing simulated motion control on the vehicle model based on the control instruction.
In a third aspect, the present application provides a terminal device comprising a memory and a processor;
the memory for storing a computer program;
the processor is configured to read the computer program stored in the memory, and execute the simulation test method for the vehicle according to the first aspect according to the computer program in the memory.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, implement the simulation testing method for a vehicle according to the first aspect.
The application provides a simulation test method, a simulation test device and simulation test equipment for a vehicle, which comprise the following steps of: initializing driving simulation processing on a vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scene; performing data conversion processing on the vehicle information to generate message data corresponding to the vehicle information; and carrying out logic calculation processing on the message data, outputting a control instruction, and carrying out simulation motion control on the vehicle model based on the control instruction, so that the complexity of model construction is reduced, the construction of a hardware platform is reduced, and the whole vehicle simulation test on the vehicle can be quickly and accurately realized on one terminal device.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart of a simulation testing method for a vehicle according to an embodiment of the present application;
FIG. 2 is a flowchart of another simulation testing method for a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a simulation testing framework for a vehicle according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a simulation testing apparatus for a vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application;
fig. 6 is a block diagram of a terminal device according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. The drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the concepts of the application by those skilled in the art with reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims.
The intelligent vehicle driving system is characterized in that the overall architecture for realizing intelligent vehicle driving is complex, wherein a domain controller is the core of each functional domain of an automobile and mainly comprises three parts, namely a domain main control processor, an operating system, application software, an integrated algorithm and the like, the algorithm part integrates a perception algorithm, a fusion algorithm, a planning algorithm, a control algorithm, a data flow bottom layer algorithm and the like, and the software and algorithm updating iteration speed is high, so that the comprehensive and efficient simulation test method is particularly important.
In one example, the current mainstream intelligent driving simulation test methods mainly include two methods: the first is Software in the loop (SIL) simulation: the open-loop simulation test is carried out based on a visual simulation tool, such as a simulink software building model, or the closed-loop simulation test is carried out based on the combination of the whole vehicle virtual simulation software and the simulink model. The method is effective for algorithm verification and code verification after automatic code language conversion of the algorithm, but has great difference with a final software package carried by a real vehicle, and cannot verify a data flow frame, middleware and the like of the whole architecture. The second type is hardware-in-loop simulation, the method is based on a simulation platform of a real domain controller, wherein the simulation platform is carried by software and hardware close to a real vehicle and is used for verifying each algorithm module, a data transmission module, bottom layer control logic and the like in an intelligent driving system.
Therefore, the simulation test method for the vehicle is provided by comprehensively considering factors such as comprehensive coverage of the simulation test, hardware dependence, verification efficiency and the like, a hardware environment is not required to be additionally constructed, and the whole vehicle simulation test for the vehicle is realized in one terminal device.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a simulation test method for a vehicle according to an embodiment of the present application, where the method is applied to a terminal device, and as shown in fig. 1, the method includes:
101. and performing initial driving simulation processing on the vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scene.
For example, a simulation scene is preset in the whole vehicle simulation software, and the vehicle model is subjected to initial driving simulation processing in the preset scene, that is, a driving speed, a traffic scene and the like of the vehicle model are given, so that the vehicle model simulates driving in the traffic scene, and the vehicle model generates corresponding driving information in the driving simulation process, and acquires the driving information so as to analyze the driving state of the vehicle model subsequently.
102. And performing data conversion processing on the vehicle information to generate message data corresponding to the vehicle information.
Illustratively, the collected vehicle information is subjected to data conversion, for example, the format, the length and the like of the information are converted, and message data corresponding to the vehicle information is generated, so that algorithm software can perform identification calculation on the message data.
In one example, the vehicle information may be a speed of the vehicle, a distance between the vehicle and a front obstacle, a speed of the front obstacle of the vehicle, and the like, and these information algorithms cannot identify and calculate the vehicle information and need to perform data conversion.
103. And integrating a packet based on the operated domain controller software, performing logic calculation processing on the message data, outputting a control instruction, and performing simulated motion control on the vehicle model based on the control instruction.
Illustratively, the message data generated by conversion is analyzed based on the running domain controller software integrated package, for example, keyword fields in the extracted message data are identified, logic calculation processing is performed according to internal algorithm logic, control instructions are generated and output according to logic calculation results, and simulated motion control is performed on the vehicle model based on the control instructions.
In summary, the simulation test method for a vehicle provided by the embodiment includes the following steps: performing initial driving simulation processing on the vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents driving information of the vehicle model in the preset simulation scene; carrying out data conversion processing on the vehicle information to generate message data corresponding to the vehicle information; the message data is subjected to logic calculation processing, a control instruction is output, and the vehicle model is subjected to simulated motion control based on the control instruction, so that the complexity of model construction is reduced, the construction of a hardware platform is reduced, and the whole vehicle simulation test on the vehicle can be quickly and accurately realized on one terminal device.
Fig. 2 is a flowchart of another simulation testing method for a vehicle according to an embodiment of the present application, where the method is applied to a terminal device, and as shown in fig. 1, the method includes:
201. the method comprises the steps of carrying out initial driving simulation processing on a vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents driving information of the vehicle model in the preset simulation scene, and the vehicle information comprises driving perception information of the vehicle model in the preset simulation scene and driving parameter information of the vehicle model.
In one example, the preset simulation test scene comprises a road scene where the vehicle model is located and a traffic flow scene; a sensor model is arranged in the vehicle model, and the step 201 comprises the following steps:
and controlling the vehicle model to carry out initialization driving simulation processing in a road scene and a traffic flow scene according to the preset initialization parameters.
And determining driving perception information perceived by the sensor model in the process of initializing driving simulation, and determining driving parameter information of the vehicle model in the process of initializing driving simulation.
In one example, the driving awareness information includes one or more of: road information, obstacle information, traffic identification information; the driving parameter information comprises vehicle running speed information and/or vehicle braking information.
Illustratively, a simulation scene is preset in the vehicle-mounted simulation software, and a vehicle model is subjected to initialized driving simulation processing in the preset scene, so that the vehicle model simulates driving in a traffic scene, and the vehicle model generates corresponding vehicle information in the driving simulation process, such as road information, obstacle information and the like identified by the vehicle in the traffic scene, and driving information of the vehicle itself, for example, information of an accelerator parameter, a braking parameter of a braking system and the like, and collects the driving information, so as to analyze the driving state of the vehicle model in the following process.
In one example, in a finished automobile simulation software, a simulation test scene is preset, wherein the simulation test scene comprises a road scene and a traffic flow scene where a vehicle model is located besides the vehicle model, and the road scene comprises information such as a lane line, a driving track and a traffic identifier; the traffic flow scene comprises information such as the running speed, the position and the like of other vehicles and pedestrians except the vehicle model; sensor models are arranged at different positions of the vehicle model and are used for acquiring driving perception information of the vehicle model in a preset simulation scene. In addition, the vehicle model may include information such as a driver model. In a preset simulation scene, controlling a vehicle model to perform initial driving simulation processing in a road scene and a traffic flow scene according to preset initialization parameters, such as the driving speed of the vehicle model, the wind speed, the driving speed of other vehicles in the traffic flow and other initialization parameters; determining driving perception information perceived by the sensor model in the process of initializing driving simulation, such as one or more of road information, obstacle information and traffic identification information, based on each sensor model in the vehicle model; and determines driving parameter information of the vehicle model, such as vehicle running speed information, and/or vehicle braking information, during the initial driving simulation. The vehicle information is collected so as to analyze the driving state of the vehicle model in the following process.
In one example, the vehicle simulation software may be vehicle simulation software (SCANeR), or may also be intelligent driving simulation software such as VTD and VTD.
202. And acquiring driving perception information and driving parameter information based on a preset application program interface.
Illustratively, based on a preset Application Programming Interface (API), data interaction is realized with the entire vehicle simulation software, and driving perception information and driving parameter information are acquired.
203. And performing message conversion processing on the driving perception information and the driving parameter information based on a preset model to generate message data corresponding to the vehicle information.
Illustratively, a preset model corresponding to finished vehicle simulation software, such as a simulink vehicle model and a simulink sensor model, is established in a visual simulation tool (simulink), and data conversion is performed on driving perception information and driving parameter information based on the preset model, such as format, length and the like of the converted information, so as to generate message data corresponding to the vehicle information, so that algorithm software can perform recognition calculation on the message data.
In one example, based on a preset simulink vehicle model, data conversion is performed on the acquired driving parameter information to generate corresponding message data; and performing data conversion on the acquired driving perception information based on a preset simulink sensor model to generate corresponding message data.
204. And the domain controller software integration package for scheduling operation carries out logic calculation on the message data according to a logic algorithm integrated in the domain controller software integration package, generates and outputs a control instruction, and carries out simulation motion control on the vehicle model based on the control instruction.
In one example, the terminal device is configured with a virtual system, and an open source application container engine is installed in the virtual system, and is used for storing an image file on which the domain controller software integration package runs and running the domain controller software integration package.
Illustratively, the domain controller software which is scheduled to run integrates a packet, analyzes the message data generated by conversion, for example, identifies and extracts keyword fields in the message data, performs logical calculation processing according to a logical algorithm integrated in the domain controller software integration packet, generates and outputs a control instruction according to a logical calculation result, and performs simulated motion control on the vehicle model based on the control instruction.
In one example, after the data is converted based on the preset simulink model to generate the message data, the data may be packaged by DataBase management software (dbc), and then sent to the domain controller software to be integrated into a package by using User Datagram Protocol (UDP). So as to realize the logical calculation of the packet to the message data by the domain controller software integration.
In one example, the control instruction is in a UDP message form, the control instruction is transmitted to a control instruction message model of a receiving integration packet, which is set up in advance in the simulink, and then dbc analysis and format conversion are carried out on the control instruction according to the model, and finally the control instruction is transmitted to the whole vehicle simulation software through an API (application program interface) interface, so that the simulation motion control of the vehicle model is realized.
In one example, the terminal device is configured with a virtual system, and an open source application container engine is loaded in the virtual system, and is used for storing an image file on which the domain controller software integration package runs and running the domain controller software integration package.
In one example, a virtual machine is installed in a microsoft Windows operating system (Micorsoft Windows) of a terminal device, and is used for creating an wubang (Ubuntu) virtual system, and an open source application container engine (docker) is created in the virtual machine, and is used for storing an image file on which an integrated package depends to run, and defining ports for interacting with simulink model data, such as a message receiving end and a message sending end; and in the docker container, operating the domain controller software integration package, and completing the construction of the domain controller software integration package operating environment. Optionally, the simulation test method for the vehicle may also be implemented based on two terminal devices, where one terminal device runs microsoft Windows, and the other terminal device runs a virtual system.
In an example, fig. 3 is a schematic diagram of a simulation test framework for a vehicle according to an embodiment of the present application, as shown in fig. 3, a terminal device runs a vehicle simulation software scan ner to perform simulation driving and driving simulation on a vehicle model, and obtains and transmits driving perception information and driving parameter information, such as running parameter information of a chassis and a vehicle body, to a corresponding preset simulink model in a visual simulation tool according to a sensor model, a chassis, a vehicle body model component, and the like in the vehicle model; performing data conversion on driving perception information and driving parameter information based on a preset simulink model to generate corresponding UDP message data, and transmitting the message data to a domain controller software integration package running in a docker container of the ubuntu virtual system; and then scheduling the running domain controller software integrated package, performing logic calculation on the UDP message data according to logic algorithms such as a perception algorithm, a fusion algorithm, a planning algorithm, a control algorithm, a data flow bottom layer algorithm and the like integrated in the running domain controller software integrated package, generating a corresponding UDP message instruction, performing dbc analysis and format conversion on the control instruction through a preset simulink model, such as a preset receiving integrated package vehicle control message model, to generate vehicle control information, namely a control instruction, and finally transmitting the vehicle control information to the whole vehicle simulation software through an API (application programming interface) interface to realize simulation motion control on the vehicle model, and also receiving a function control instruction through a preset function control man-machine interaction interface to realize control on the intelligent driving function module.
In summary, according to the simulation test method for the vehicle provided by the embodiment, the vehicle model is controlled to perform the initialized driving simulation processing in the road scene and the traffic flow scene according to the preset initialization parameter, and the driving perception information and the driving parameter information of the vehicle model in the traffic scene and the traffic flow are obtained, so that the obtained vehicle information is closer to the driving information in the real driving scene, and the simulation test is more accurate and effective; the conversion and transmission of data of the integrated package of the whole vehicle simulation software and the domain controller software are realized based on a visual simulation tool, so that the data interaction process in the intelligent driving system can be better tested, and the simulation test is more comprehensive; in an operating system of the machine, an open source application container engine is created, and a domain controller software integration package is operated, so that the construction of a hardware platform can be avoided, the simulation test of an algorithm bottom layer is realized only by one terminal device, the resources are saved, and the simulation test efficiency is improved.
One or more embodiments of the present application may further include: and receiving a user instruction based on a preset human-computer interaction interface, wherein the user instruction is used for controlling a domain controller software integration package to open a functional module in a logic algorithm or close the functional module in the logic algorithm, and the functional module is used for realizing the intelligent driving function of the vehicle.
Illustratively, on the basis of a preset human-computer interaction interface, a user instruction is received, and the user instruction is used for controlling a domain controller software integration package to open a functional module in a logic algorithm or close the functional module in the logic algorithm, such as a smart cruise function, an adaptive cruise function and the like, so that a driver model in a vehicle model takes over the driving of the vehicle model, wherein the functional module is used for realizing the intelligent driving function of the vehicle.
In one example, in software carried by the terminal system, for example, in math software (matlab), a human-computer interaction interface for controlling functions of the vehicle model and controlling the motion of the front vehicle is created, and through the interface, commands for turning on and off certain function modules can be sent to the domain controller software integration package, and meanwhile, the taking over of the vehicle model by a driver, the control of the motion of the front vehicle and the like are realized.
In conclusion, in the embodiment, the intelligent driving function control in the vehicle simulation test process is realized through the human-computer interaction interface, so that the simulation test process can be controlled according to the user requirements, and the software development efficiency can be accelerated.
One or more embodiments of the present application may further include: determining functional information of a logic algorithm according to the vehicle information after the vehicle model executes the control command; and optimizing a logic algorithm according to the functional information.
For example, after the vehicle model receives the control command, the motion state of the vehicle is maintained or changed according to the instruction of the control command, such as maintaining the current running speed and direction, braking or lane switching, and the like, vehicle information is continuously generated in real time in the process, the vehicle information includes driving perception information and driving parameter information after the vehicle model executes the control command, and the execution condition of the vehicle model control command and whether the control command is correct or not are suitable for the traffic scene and traffic flow of the vehicle, so that the function information of the logic algorithm is determined, and the logic algorithm is optimized according to the function information.
In summary, in the embodiment, the vehicle information after the vehicle model executes the control command is used to determine the function information of the logic algorithm, and the logic algorithm is optimized according to the function information. The method can optimize and adjust the algorithm integrated in the intelligent driving system in time according to the problems in the simulation test process, and accelerate the software development efficiency.
Fig. 4 is a schematic structural diagram of a simulation testing apparatus for a vehicle according to an embodiment of the present application, where the apparatus is applied to a terminal device, and as shown in fig. 4, the apparatus includes:
the simulation unit 31 is configured to perform initial driving simulation processing on the vehicle model in a preset simulation scene, and generate vehicle information, where the vehicle information represents driving information of the vehicle model in the preset simulation scene.
And the data conversion unit 32 is used for performing data conversion processing on the vehicle information and generating message data corresponding to the vehicle information.
And the control unit 33 is used for integrating packets based on the running domain controller software, performing logic calculation processing on the message data, outputting a control instruction, and performing simulated motion control on the vehicle model based on the control instruction.
In one example, the preset simulation test scene comprises a road scene where the vehicle model is located and a traffic flow scene; a sensor model is arranged in the vehicle model; the vehicle information comprises driving perception information of the vehicle model in a preset simulation scene and driving parameter information of the vehicle model; the analog unit 31 includes:
and the simulation subunit is used for controlling the vehicle model to carry out initialization driving simulation processing in a road scene and a traffic flow scene according to the preset initialization parameters.
And the determining subunit is used for determining the driving perception information perceived by the sensor model in the process of initializing the driving simulation, and determining the driving parameter information of the vehicle model in the process of initializing the driving simulation.
In one example, the data conversion unit 32 includes:
and the obtaining subunit is used for obtaining the driving perception information and the driving parameter information based on a preset application program interface.
And the conversion subunit is used for performing message conversion processing on the driving perception information and the driving parameter information based on the preset model to generate message data corresponding to the vehicle information.
In one example, the driving awareness information includes one or more of: road information, obstacle information, traffic identification information.
The driving parameter information includes vehicle running speed information, and/or vehicle braking information.
In one example, the control unit 33 includes:
and the processing subunit is used for scheduling the running domain controller software integrated package, performing logic calculation on the message data according to a logic algorithm integrated in the domain controller software integrated package, and generating and outputting a control instruction.
In one example, the terminal device is configured with a virtual system, and an open source application container engine is installed in the virtual system, and is used for storing an image file on which the domain controller software integration package runs and running the domain controller software integration package.
In one example, the apparatus further comprises:
and the receiving unit is used for receiving a user instruction based on a preset human-computer interaction interface, wherein the user instruction is used for controlling the domain controller software integration package to open a functional module in the logic algorithm or close the functional module in the logic algorithm, and the functional module is used for realizing the intelligent driving function of the vehicle.
In one example, the apparatus further comprises:
and the determining unit is used for determining the function information of the logic algorithm according to the vehicle information after the vehicle model executes the control command.
And the processing unit is used for optimizing the logic algorithm according to the functional information.
Fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application, and as shown in fig. 5, the terminal device includes: memory 41, processor 42.
A memory for storing a computer program.
A processor for reading the computer program stored in the memory and executing the method of any of the above embodiments according to the computer program in the memory.
Fig. 6 is a block diagram of a terminal device, which may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, etc., according to an embodiment of the present disclosure.
The apparatus 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.
The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operation mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed status of the device 800, the relative positioning of the components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration/deceleration of the device 800, and a change in the temperature of the device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 804 comprising instructions, executable by the processor 820 of the device 800 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
An embodiment of the present application further provides a computer program product, where the computer program product includes: a computer program, stored in a readable storage medium, from which at least one processor of the terminal device can read the computer program, the at least one processor executing the computer program causing the terminal device to perform the solution provided by any of the embodiments described above.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (11)
1. A simulation test method for a vehicle, which is applied to a terminal device, and comprises the following steps:
initializing driving simulation processing on a vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scene;
performing data conversion processing on the vehicle information to generate message data corresponding to the vehicle information;
and integrating a package based on the operated domain controller software, performing logic calculation processing on the message data, outputting a control instruction, and performing simulated motion control on the vehicle model based on the control instruction.
2. The method according to claim 1, wherein the preset simulation test scenes comprise a road scene and a traffic flow scene where the vehicle model is located; a sensor model is arranged in the vehicle model; the vehicle information comprises driving perception information of the vehicle model in the preset simulation scene and driving parameter information of the vehicle model; carrying out initial driving simulation processing on a vehicle model in a preset simulation scene to generate vehicle information, wherein the method comprises the following steps:
controlling the vehicle model to carry out initialization driving simulation processing in the road scene and the traffic flow scene according to preset initialization parameters;
and determining driving perception information perceived by the sensor model in the initialized driving simulation process, and determining driving parameter information of the vehicle model in the initialized driving simulation process.
3. The method according to claim 2, wherein performing data conversion processing on the vehicle information to generate message data corresponding to the vehicle information includes:
acquiring the driving perception information and the driving parameter information based on a preset application program interface;
and performing message conversion processing on the driving perception information and the driving parameter information based on a preset model to generate message data corresponding to the vehicle information.
4. The method of claim 2, wherein the traffic awareness information comprises one or more of: road information, obstacle information, traffic identification information;
the driving parameter information comprises vehicle running speed information and/or vehicle braking information.
5. The method of claim 1, wherein performing logic computation processing on the message data based on a running domain controller software integration package, and outputting a control instruction comprises:
and the domain controller software integration package which is scheduled to run performs logic calculation on the message data according to a logic algorithm integrated in the domain controller software integration package, and generates and outputs the control instruction.
6. The method according to claim 5, wherein the terminal device is configured with a virtual system, and an open source application container engine is installed in the virtual system, and is configured to store an image file on which the domain controller software integration package depends and run the domain controller software integration package.
7. The method of claim 6, further comprising:
and receiving a user instruction based on a preset human-computer interaction interface, wherein the user instruction is used for controlling the domain controller software integration package to open or close the functional module in the logic algorithm, and the functional module is used for realizing the intelligent driving function of the vehicle.
8. The method according to any one of claims 5-7, further comprising:
determining the function information of the logic algorithm according to the vehicle information after the vehicle model executes the control command;
and optimizing the logic algorithm according to the functional information.
9. A simulation test device for a vehicle, wherein the device is applied to a terminal device, the device comprising:
the simulation unit is used for carrying out initial driving simulation processing on a vehicle model in a preset simulation scene to generate vehicle information, wherein the vehicle information represents driving information of the vehicle model in the preset simulation scene;
the data conversion unit is used for performing data conversion processing on the vehicle information and generating message data corresponding to the vehicle information;
and the control unit is used for integrating a package based on the operated domain controller software, performing logic calculation processing on the message data, outputting a control instruction, and performing simulated motion control on the vehicle model based on the control instruction.
10. A terminal device, characterized in that the terminal device comprises a memory and a processor;
the memory for storing a computer program;
the processor is used for reading the computer program stored in the memory and executing the simulation test method for the vehicle according to any one of the claims 1-8 according to the computer program in the memory.
11. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the simulation testing method for a vehicle of any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211395946.3A CN115616936A (en) | 2022-11-09 | 2022-11-09 | Simulation test method, device and equipment for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211395946.3A CN115616936A (en) | 2022-11-09 | 2022-11-09 | Simulation test method, device and equipment for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115616936A true CN115616936A (en) | 2023-01-17 |
Family
ID=84879241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211395946.3A Pending CN115616936A (en) | 2022-11-09 | 2022-11-09 | Simulation test method, device and equipment for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115616936A (en) |
-
2022
- 2022-11-09 CN CN202211395946.3A patent/CN115616936A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3866011A1 (en) | Resource processing method and apparatus for mobile terminal, computer device and storage medium | |
| RU2659498C2 (en) | Operation guiding method and apparatus and also electronic device | |
| CN107539209A (en) | Control the method and device of lights of vehicle | |
| CN113442950B (en) | Automatic driving control method, device and equipment based on multiple vehicles | |
| CN105094830B (en) | A kind of method and apparatus of performance objective function | |
| CN107306345A (en) | Traveling record processing method, device, equipment, operating system and the vehicles | |
| CN115408779A (en) | Simulation test method, device and storage medium for passenger-riding parking algorithm | |
| CN114779665A (en) | Automatic parking simulation test method and device and readable storage medium | |
| CN115640059B (en) | Autopilot operating system, electronic device, and storage medium | |
| CN105930213A (en) | Application running method and apparatus | |
| CN107945552A (en) | Become method, apparatus and the storage medium that the lamp time is prompted to signal lamp | |
| CN110929616A (en) | Human hand recognition method and device, electronic equipment and storage medium | |
| CN114820898A (en) | Driving simulation image rendering method and device, simulator and storage medium | |
| CN107463372A (en) | The method for updating pages and device of a kind of data-driven | |
| CN116224974B (en) | Cloud pipe end-based vehicle body controller in-loop testing method, platform and storage medium | |
| CN115616936A (en) | Simulation test method, device and equipment for vehicle | |
| CN114235442B (en) | Method, device and equipment for testing performance of automatic driving vehicle and storage medium | |
| CN112518741B (en) | Robot control method, device, robot and storage medium | |
| CN114817072A (en) | Vehicle testing method, device, equipment and storage medium based on virtual scene | |
| CN114937121A (en) | Simulation test method and device, electronic device and storage medium | |
| CN107463833A (en) | The method of calibration and device of Web applications | |
| CN115219252A (en) | Test system, test method, terminal and storage medium | |
| CN113450298B (en) | Multi-sensor-based view map processing method, device and equipment | |
| CN111382237B (en) | Data processing method, device and task dialogue system | |
| CN107784224B (en) | Permission adaptation method and device and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |