CN115933586A - Vehicle testing method and device, electronic equipment and storage medium - Google Patents
Vehicle testing method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention relates to a vehicle testing method, which is applied to a remote control system, wherein the system comprises a first graphic workstation and a first real-time, a simulation test scene animation is generated by the first graphic workstation, and the simulation test scene animation is sent to a second graphic workstation of a target vehicle; receiving motion information through a first real-time machine; obtaining a test result according to the motion information, wherein the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information; and the traffic target object information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target object information from the second graphic workstation. The vehicle test can be completed in a remotely generated simulation test scene, so that the limitation of the actual environment on the vehicle test is avoided; the motion information of the vehicle is transmitted back to the remote control system, so that the evaluation of the test result can be remotely completed, and the vehicle test is more convenient.
Description
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to a vehicle testing method and apparatus, an electronic device, and a storage medium.
Background
In recent years, the automatic driving technology has been developed vigorously, and convenience in driving and traveling is improved. Under the autopilot state, vehicle controller is given to bigger driving authority, and in order to better faster promotion autopilot's volume production, the test is an essential important link. According to the automatic driving test pyramid display, the simulation test accounts for more than 90% of the whole automatic driving test process, pure software and hardware are tested in a ring and a hardware in a ring, and the used actuator is a vehicle dynamics system depending on commercial software, so that the accuracy of the execution effect is not high, the performance problem in the automatic driving software cannot be found and solved in the early stage, but the automatic driving software can be exposed in the real vehicle test in the later stage, the test cost and the time line are also prolonged while the iteration times are increased, but the real vehicle test can only be intervened in the later stage, the consumed manpower and time cost are too long, and many dangerous scenes cannot be tested. Therefore, the vehicle in-loop test is deduced on the basis of the real vehicle test. The related test modes are mostly tested by using the real dynamic environment of the vehicle, but the test personnel is required to be on the vehicle for a long time, so that inconvenience is brought to the test personnel.
Disclosure of Invention
In order to solve at least one technical problem, the present disclosure provides a vehicle testing method, an apparatus, an electronic device, and a storage medium.
In one aspect, the present disclosure provides a vehicle testing method applied to a remote control system, where the remote control system includes a first graphic workstation and a first real-time, and the method includes:
generating a simulation test scene animation through the first graphic workstation, and sending the simulation test scene animation to a second graphic workstation of the target vehicle;
receiving motion information through a first real-time machine;
obtaining a test result according to the motion information, wherein the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information;
the traffic target object information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target object information obtained by the second graphic workstation according to the simulation test scene.
In an optional embodiment, the remote control system further comprises a simulator vehicle for obtaining a test result according to the motion information, comprising:
sending the motion information to the simulator vehicle at the first real time;
and receiving the motion information through the simulator vehicle, and generating an action result corresponding to the motion information according to the motion information, wherein the action result belongs to the test result.
In an optional embodiment, the remote control system further comprises a display device, and the method further comprises:
sending the movement information to a first graphics workstation at a first real-time;
updating the simulation test scene animation according to the motion information through the first graphic workstation, and feeding back the updated simulation test scene animation to the first real-time;
and mapping the updated simulation test scene animation to the display equipment through the first real-time moment.
In an optional embodiment, the method further includes:
and remotely regulating and controlling the simulation test scene animation in the second graphic workstation through the first graphic workstation.
The present disclosure also provides another vehicle testing method, applied to a target vehicle, the target vehicle including a second graphic workstation, a second real-time, and an autonomous driving controller, the method including:
receiving the simulation test scene animation through the second graphic workstation, and sending the simulation test scene animation to the automatic driving controller, wherein the simulation test scene animation is generated and sent by the first graphic workstation in the remote control system;
obtaining traffic target object information according to the simulation test scene through a second graphic workstation, and sending the traffic target object information to a second real-time;
sending the traffic target object information to the automatic driving controller through the second real-time moment;
generating motion information according to the simulation test scene animation and the traffic target object information through an automatic driving controller, and sending the motion information to a first real-time of a remote control system; the remote control system receives the motion information through the first real-time machine and obtains a test result according to the motion information.
In an optional embodiment, the target vehicle further includes an inertial navigation device, generating motion information according to the simulation test scene animation and the traffic target object information through the automatic driving controller, and sending the motion information to a first real-time of the remote control system, where the first real-time comprises:
generating a vehicle control instruction according to the simulation test scene animation and the traffic target object information through an automatic driving controller, wherein the vehicle control instruction is used for controlling a target vehicle to generate motion information;
acquiring motion information through inertial navigation equipment, and sending the motion information to a second real-time;
and receiving the motion information through the second real-time machine, and sending the motion information to the first real-time machine.
In an optional embodiment, the method further includes:
sending the movement information to a second graphics workstation at a second real-time;
and receiving the motion information through a second graphic workstation, and updating the simulation test scene animation according to the motion information.
In a second aspect, the present invention further provides a vehicle testing apparatus, which is applied to a remote control system, wherein the remote control system comprises a first graphic workstation and a first real-time computer, and the apparatus comprises:
the scene animation generating module is used for generating simulation test scene animation through the first graphic workstation and sending the simulation test scene animation to a second graphic workstation of the target vehicle;
the motion information receiving module is used for receiving motion information through the first real-time machine;
the test result generation module is used for obtaining a test result according to the motion information, and the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information;
the traffic target object information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target object information obtained by the second graphic workstation according to the simulation test scene.
The invention also provides another vehicle testing device, which is applied to a target vehicle, wherein the target vehicle comprises a second graphic workstation, a second real-time and an automatic driving controller, and the device comprises:
the scene animation receiving module is used for receiving the simulation test scene animation through the second graphic workstation and sending the simulation test scene animation to the automatic driving controller, and the simulation test scene animation is generated and sent by the first graphic workstation in the remote control system;
the target object information generating module is used for obtaining traffic target object information according to the simulation test scene through the second graphic workstation and sending the traffic target object information to a second real-time;
the target object information sending module is used for sending the traffic target object information to the automatic driving controller through a second real-time moment;
the motion information generation module is used for generating motion information according to the simulation test scene animation and the traffic target object information through the automatic driving controller and sending the motion information to a first real-time of the remote control system; the remote control system receives the motion information through the first real-time machine and obtains a test result according to the motion information.
In a third aspect, the present invention further provides an electronic device, including:
a processor;
a memory for storing processor-executable instructions;
the processor is used for executing instructions to realize the vehicle testing method.
In a fourth aspect, the present invention also provides a storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the vehicle testing method described above.
In a fifth aspect, the present invention also provides a computer program product comprising a computer program stored in a readable storage medium, from which the computer program is read and executed by at least one processor of a computer device, such that the device performs the vehicle testing method described above.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
The implementation of the present disclosure has the following beneficial effects:
generating a simulation test scene animation through the first graphic workstation, and sending the simulation test scene animation to a second graphic workstation of the target vehicle; receiving motion information through a first real-time machine; obtaining a test result according to the motion information, wherein the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information; the traffic target object information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target object information obtained by the second graphic workstation according to the simulation test scene.
According to the method and the system, the simulation test scene animation is generated through the first graphic workstation of the remote control system and is sent to the second graphic workstation of the target vehicle, so that the remote design and issuing of the simulation test scene animation are completed, the test scene can be set according to the test requirement, the limitation of a real test field on vehicle test is eliminated, the test efficiency is improved, and the test cost is reduced; the first real-time machine of the remote control system receives the motion information of the target vehicle, the test result is obtained according to the motion information, the remote control system end obtains the motion information, remote evaluation of the test result is achieved, and convenience of vehicle testing is greatly improved.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
FIG. 1 is a schematic illustration of an implementation environment shown in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating a vehicle testing method according to an exemplary embodiment;
FIG. 3 is a flow diagram illustrating a test result based on motion information in accordance with an exemplary embodiment;
FIG. 4 is a flowchart illustrating a display simulation test scenario animation according to an exemplary embodiment;
FIG. 5 is a flow chart illustrating another vehicle testing method according to an exemplary embodiment;
FIG. 6 is a flow diagram illustrating the generation and transmission of motion information in accordance with an exemplary embodiment;
FIG. 7 is a flowchart illustrating an updating of a simulation test scenario animation according to an exemplary embodiment;
FIG. 8 is a block diagram of a vehicle testing device according to an exemplary embodiment;
FIG. 9 is a block diagram of another vehicle testing device shown in accordance with an exemplary embodiment;
FIG. 10 is a block diagram illustrating an electronic device for vehicle testing, according to an exemplary embodiment.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments in the present specification, belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated. The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
The term "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of a, B, and C, and may mean including any one or more elements selected from the group consisting of a, B, and C.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
In the related technology, vehicle testing is mostly completed in a test scene which is actually built, so that the test process is limited by the scene, various conditions which may be met cannot be effectively tested, if the performance of the vehicle under different scenes is to be tested, the test scene needs to be built again, the cost is huge, and time and labor are wasted; in addition, the existing testing method requires that a tester stays on the testing vehicle all the time in the testing process so as to complete the observation of the testing vehicle and the collection of testing data, and is very inconvenient.
In order to realize multi-scene testing of a vehicle, facilitate observation and analysis of testers, reduce testing cost and improve testing efficiency, the embodiment of the disclosure provides a vehicle testing method.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating an application environment according to an exemplary embodiment, which may include a server 01 and a terminal 02, as shown in fig. 1.
In an alternative embodiment, the server 01 may be used for the vehicle testing method to perform the calculation process. Specifically, the server 01 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a web service, cloud communication, a middleware service, a domain name service, a security service, a Content Delivery Network (CDN), a big data and artificial intelligence platform, and the like.
In an alternative embodiment, the terminal 02 may perform the calculation process in combination with the vehicle test method of the server 01. Specifically, the terminal 02 may include, but is not limited to, a smart phone, a desktop computer, a tablet computer, a notebook computer, a smart speaker, a digital assistant, an Augmented Reality (AR)/Virtual Reality (VR) device, a smart wearable device, and other types of electronic devices. Optionally, the operating system running on the electronic device may include, but is not limited to, an android system, an IOS system, a Linux system, a Windows system, a Unix system, and the like.
For example, a vehicle test command is input on the terminal 02, the server 01 obtains the vehicle test command on the terminal 02, then a simulation test scene animation is generated through the first graphic workstation, and the simulation test scene animation is sent to the second graphic workstation of the target vehicle; receiving motion information through a first real-time machine; obtaining a test result according to the motion information, wherein the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information; the traffic target object information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target object information obtained by the second graphic workstation according to the simulation test scene; finally, the test result is transmitted to the terminal 02.
In addition, it should be noted that fig. 1 shows only one application environment provided by the present disclosure, and in practical applications, other application environments may also be included.
In the embodiment of the present specification, the server 01 and the terminal 02 may be directly or indirectly connected through a wired or wireless communication method, and the disclosure is not limited herein.
Fig. 2 is a flowchart illustrating a vehicle testing method according to an exemplary embodiment, which is applied to a remote control system deployed in a remote laboratory, the remote control system including a first graphic workstation and a first real-time, as shown in fig. 2, the vehicle testing method including the following:
step S201: and generating a simulation test scene animation through the first graphic workstation, and sending the simulation test scene animation to a second graphic workstation of the target vehicle.
In the embodiment of the disclosure, animation simulation software runs in the first graphic workstation, the animation simulation software can generate simulation test scene animations, the simulation test scene animations are determined according to an imported high-precision map and test requirements, the simulation test scene animations comprise information such as motion speeds and distances of simulation roads, simulation traffic signals, simulation road vehicles and pedestrians and simulation road vehicles and pedestrians, and after the simulation test scene animations are generated, the first graphic workstation sends the simulation test scene animations to the second graphic workstation of the target vehicle. Optionally, the first graphics workstation and the second graphics workstation are connected by 5G communication.
In an alternative embodiment, the simulation test scenario animation in the second graphics workstation is remotely manipulated by the first graphics workstation.
In the embodiment of the disclosure, in the running process of the target vehicle, the simulation test scene animation in the second graphic workstation is remotely regulated and controlled through the first graphic workstation so as to change the road scene and the traffic environment where the target vehicle is located, and realize the diversified test of the target vehicle.
Based on the above, in the embodiment of the disclosure, the simulation test scene animation in the second graphic workstation is remotely controlled through the first graphic workstation, so that the remote control of the simulation test scene animation at the target vehicle end is realized, and the diversified scene test of the target vehicle can be completed in a short time by adjusting the simulation test scene animation, so that the performance of the target vehicle is more comprehensively evaluated, and the test cost is reduced while the test efficiency is improved.
Step S202: and receiving the motion information through the first real-time machine.
In the embodiment of the disclosure, the first real-time machine is connected through 5G communication, can remotely receive the motion information of the target vehicle, and can restore the motion state of the target vehicle by analyzing and processing the motion information. Optionally, the motion information includes speed, acceleration, distance traveled, attitude, heading angle, and the like.
Step S203: and obtaining a test result according to the motion information, wherein the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information.
In the embodiment of the disclosure, the traffic target information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target information obtained by the second graphic workstation according to the simulation test scene. As shown in fig. 3, the test result is obtained according to the motion information, which includes the following:
step S2031: the motion information is sent to the simulator vehicle through the first real time.
In the embodiment of the disclosure, the first real-time machine is connected with the simulator vehicle in an Ethernet communication mode. The simulation board card is operated in the first real time, the motion information is processed through the simulation board card, and the motion information is sent to the simulator vehicle.
Step S2032: and receiving the motion information through the simulator vehicle, and generating an action result corresponding to the motion information according to the motion information, wherein the action result belongs to the test result.
In the embodiment of the disclosure, after the simulator vehicle receives the motion information, the motion result corresponding to the motion information of the target vehicle is simulated through six motors carried by the simulator vehicle, and the motion result belongs to the test result. A technician can obtain a running operation result of the target vehicle under a simulation test scene by observing the simulator vehicle.
Based on the above, the embodiment of the present disclosure transmits motion information to the simulator vehicle through a first real time; the transmission of the motion information between the first real-time and the simulator vehicle is realized, the acquisition of the motion information of the target vehicle by the simulator vehicle is completed, and a foundation is laid for the remote control system end to obtain a test result; the simulator vehicle receives the motion information, and generates an action result corresponding to the motion information according to the motion information, so that the remote observation of the motion state of the target vehicle is completed, and the remote control system terminal observes the simulator vehicle, so that a test result is obtained through remote analysis and processing in the vehicle test process, and the test convenience is greatly improved.
In an alternative embodiment, the remote control system further includes a display device, as shown in fig. 4, and the method further includes:
step S2033: the movement information is sent to the first graphics workstation at the first real-time.
In the embodiment of the disclosure, the first real-time machine is connected to the first graphic workstation through the ethernet, and after receiving the motion information, the first real-time machine sends the motion information to the first graphic workstation in an ethernet communication manner.
Step S2034: and updating the simulation test scene animation according to the motion information through the first graphic workstation, and feeding back the updated simulation test scene animation to the first real-time.
In the embodiment of the disclosure, after receiving the motion information, the first graphic workstation processes the motion information to judge the motion condition of the target vehicle after receiving the simulation scene animation, updates the simulation scene animation to the environment of the current target vehicle under the visual angle according to the judgment result, and feeds back the updated simulation test scene animation to the first real-time through ethernet communication.
Step S2035: and mapping the updated simulation test scene animation to the display equipment through the first real-time.
In the embodiment of the disclosure, the first real-time mapping the updated simulation test scene animation to the display device after receiving the updated simulation test scene animation enables a technician to observe the surrounding environment of the current target vehicle and to obtain a test result by combining the display device and the simulator vehicle at the same time. Alternatively, the display device is preferably a circular screen.
Based on the above, in the embodiment of the present disclosure, the motion information is sent to the first graphic workstation at the first real time, so that the motion information is transmitted between the first real time and the first graphic workstation, and the first graphic workstation acquires the motion information; the simulation test scene animation is updated through the first graphic workstation and fed back to the first real-time, so that the tracking of the remote control system end on the simulation environment around the target vehicle is realized; the updated simulation test scene animation is mapped to the display device at the first real-time moment, so that the visual display of the simulation scene is realized, and the vehicle test result can be more effectively evaluated by technicians in combination with the surrounding environment of the vehicle.
FIG. 5 is a flow chart illustrating another vehicle testing method according to an exemplary embodiment, as applied to a target vehicle including a second graphics workstation, a second real-time, and an autonomous driving controller, as shown in FIG. 5, the vehicle testing method comprising the following:
step S501: and receiving the simulation test scene animation through the second graphic workstation, and sending the simulation test scene animation to the automatic driving controller, wherein the simulation test scene animation is generated and sent by the first graphic workstation in the remote control system.
In the embodiment of the present disclosure, animation simulation software is run in the second graphics workstation, and the software can process the received simulation test scene animation into video information. And after receiving the simulation test scene animation, the second graphic workstation transmits the simulation test scene animation to the automatic driving controller in a video injection mode, and is used for simulating a camera sensor required by the automatic driving controller. The simulation test scene animation is generated by a first graphic workstation in the remote control system and is sent to a second graphic workstation.
Step S502: and obtaining traffic target object information according to the simulation test scene through the second graphic workstation, and sending the traffic target object information to a second real-time.
In the embodiment of the present disclosure, the second graphic workstation is in communication connection with the second real-time machine through an ethernet. And the second graphic workstation extracts the speed, distance and other information of the vehicles or pedestrians around the target vehicle from the simulation test scene, summarizes the information into traffic target object information, and sends the traffic target object information to a second real-time point through Ethernet communication.
Step S503: and sending the traffic target object information to the automatic driving controller through the second real-time.
In the embodiment of the disclosure, the second real-time machine is configured with a simulation board card, and the simulation board card of the second real-time machine transmits the traffic target information to the automatic driving controller according to the sensor configuration protocol of the automatic driving controller after receiving the traffic target information transmitted by the second graphic workstation. For example: the automatic driving controller needs information from the millimeter-wave radar, data are transmitted between the millimeter-wave radar and the automatic driving controller in a CAN-FD format, and the simulation board card CAN package traffic target information into CAN-FD format data according to a protocol between the millimeter-wave radar and the controller and transmit the CAN-FD format data to the automatic driving controller so as to complete simulation of the millimeter-wave radar. Similarly, the simulation board card can also transmit laser radar information, ultrasonic radar information and the like required by the automatic driving controller.
Step S504: generating motion information according to the simulation test scene animation and the traffic target object information through an automatic driving controller, and sending the motion information to a first real-time of a remote control system; the remote control system receives the motion information through the first real-time machine and obtains a test result according to the motion information.
In the embodiment of the present disclosure, the target vehicle further includes an inertial navigation device, as shown in fig. 6, generating motion information according to the simulation test scene animation and the traffic target information by the automatic driving controller, and sending the motion information to a first real time of the remote control system, where the first real time includes:
step S5041: and generating a vehicle control instruction according to the simulation test scene animation and the traffic target object information through an automatic driving controller, wherein the vehicle control instruction is used for controlling a target vehicle to generate motion information.
In the embodiment of the disclosure, the automatic driving controller generates a vehicle control instruction for the target vehicle according to the simulation test scene animation and the traffic target object information, so that the target vehicle moves in the simulation test scene.
Step S5042: and acquiring motion information through the inertial navigation equipment, and sending the motion information to a second real-time.
In the embodiment of the disclosure, after the inertial navigation device collects the motion information of the target vehicle, the motion information is sent to the second real-time point through ethernet communication.
Step S5043: and receiving the motion information through the second real-time machine, and sending the motion information to the first real-time machine.
In the embodiment of the disclosure, after receiving the motion information from the inertial navigation device, the second real-time machine sends the motion information to the first real-time machine through ethernet communication.
Based on the above, the vehicle control instruction is generated by the automatic driving controller according to the simulation test scene animation and the traffic target information, and the instruction generation and issuing in the simulation scene are completed; the motion information is acquired through the inertial navigation equipment and is sent to the second real-time machine, so that the motion information is acquired, and the running state of the target vehicle in the road traffic environment is judged through analysis of the motion information; the second real-time machine receives the motion information and sends the motion information to the first real-time machine, so that the transmission of the motion information between the target vehicle and the remote control system is completed, and the remote control system is favorable for analyzing the motion information to obtain a test result.
In an optional embodiment, the method further includes:
the movement information is sent to the second graphics workstation via the second real time.
In the embodiment of the present disclosure, the second real-time sends the motion information to the animation simulation software of the second graphic workstation through ethernet communication after receiving the motion information.
And receiving the motion information through a second graphic workstation, and updating the simulation test scene animation according to the motion information.
In the embodiment of the disclosure, after receiving the motion information, the animation simulation software in the second graphic workstation processes the motion information to determine the motion condition of the target vehicle after receiving the simulation scene animation, and updates the simulation scene animation to the environment of the current target vehicle under the viewing angle according to the determination result.
Based on the above, in the embodiment of the present disclosure, the motion information is sent to the second graphic workstation at the second real time, so that the transmission of the motion information between the second real time and the second graphic workstation is realized; the second graphic workstation receives the motion information and updates the simulation test scene animation according to the motion information, so that the simulation test scene animation can be updated along with the movement of the target vehicle, the timeliness of the simulation test scene animation is improved, and the effectiveness and the authenticity of the simulation test are enhanced.
In the embodiment, the simulator vehicle receives the motion information, and generates the action result corresponding to the motion information according to the motion information, so that the remote observation of the motion state of the target vehicle is completed, and the remote control system observes the simulator vehicle, so that the test result is obtained through remote analysis and processing in the vehicle test process, and the test convenience is greatly improved; the simulation test scene animation is updated through the first graphic workstation and fed back to the first real-time, so that the tracking of the remote control system end on the simulation environment around the target vehicle is realized; the updated simulation test scene animation is mapped to the display equipment through the first real-time moment, so that the visual display of the simulation scene is realized, and the vehicle test result can be more effectively evaluated by technicians in combination with the surrounding environment of the vehicle; generating a vehicle control instruction according to the simulation test scene animation and the traffic target object information through the automatic driving controller, and finishing the instruction generation and issuing in the simulation scene; the second real-time machine receives the motion information and sends the motion information to the first real-time machine, so that the transmission of the motion information between the target vehicle and the remote control system is completed, and the remote control system can analyze the motion information to obtain a test result; the simulation test scene animation is updated through the second graphic workstation according to the motion information, the simulation test scene animation can be updated along with the movement of the target vehicle, the timeliness of the simulation test scene animation is improved, and the effectiveness and the authenticity of the simulation test are enhanced.
In a specific implementation manner, the implementation process of the technical solution in the examples of the present application is as follows:
and performing in-loop test on the target vehicle, wherein the target vehicle is deployed in an open field, and the remote control system is deployed in a remote laboratory.
A tester uses simulation animation software in a graphic workstation 1 of a remote control system to select a test scene in a remote laboratory, the test scene is imported from a high-precision map, and animation simulation software in a graphic workstation 2 of a target vehicle is remotely called through 5G to run the same test scene; when the simulation test scene animation in the graphic workstation 2 runs, the simulation of a camera sensor of the automatic driving controller is completed in a video injection mode, and meanwhile, the traffic target object information in the simulation test scene animation is transmitted to a simulation board card in a real-time machine 2 of a target vehicle in an Ethernet mode; the simulation board card in the real-time 2 sends the traffic target information in the simulation test scene animation to the automatic driving controller according to different radar sensor communication protocols of the automatic driving controller, such as CAN/CAN-FD/LIN; the automatic driving controller controls a target vehicle to run in the field, and after receiving the change of the traffic target information, the automatic driving controller triggers automatic driving functions, such as acceleration, braking and the like; motion information of the target vehicle in running and executing an automatic driving function, such as acceleration, speed, direction and the like, is collected by using the local or after-loading inertial navigation equipment on the vehicle and is transmitted to the simulation board card in the real-time 2; the motion information of the target vehicle is transmitted to simulation animation software in a graphic workstation 2 in the target vehicle by a simulation board card in the real-time computer 2 in the Ethernet mode, so that a simulation scene is updated, and meanwhile, the motion information of the target vehicle is remotely transmitted to a simulation board card in a real-time computer 1 of a remote control system in a remote laboratory by a real-time computer 2 in a 5G mode; the simulation board card in the real-time 1 in the remote laboratory also transmits the motion information of the target vehicle to the simulation animation software in the graphic workstation 1 in an Ethernet mode, so that the simulation test scene is updated, and the simulation test scene is transmitted to the simulator vehicle to enable the simulator vehicle to execute the same action as the target vehicle. In addition, the simulation board card in the real-time 1 in the remote laboratory acquires the updated simulation test scene, and transmits the simulation test scene to the ring screen in the remote laboratory in an Ethernet manner; the test scene displayed on the circular screen can select any visual angle, such as a visual angle of a driver of the target vehicle, a third visual angle and the like. The test staff can obtain a test conclusion by observing the action result of the simulator vehicle in a laboratory, or observe the action result of the simulator vehicle under different scenes by combining the circular screen and the simulator vehicle to obtain the test conclusion.
FIG. 8 is a block diagram of a vehicle testing apparatus according to an exemplary embodiment, the apparatus being applied to a remote control system including a first graphics workstation and a first real time, the apparatus comprising:
a scene animation generating module 801, configured to generate a simulation test scene animation through the first graphics workstation, and send the simulation test scene animation to a second graphics workstation of the target vehicle;
a motion information receiving module 802, configured to receive motion information through a first real-time machine;
the test result generation module 803 is used for obtaining a test result according to the motion information, and the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information; the traffic target object information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target object information obtained by the second graphic workstation according to the simulation test scene.
In an alternative embodiment, the remote control system further comprises a simulator vehicle, and the test result generation module 803 comprises:
the first motion information submodule is used for sending motion information to the simulator vehicle through a first real time;
and the action result generating module is used for receiving the motion information through the simulator vehicle and generating an action result corresponding to the motion information according to the motion information, wherein the action result belongs to the test result.
In an alternative embodiment, the remote control system further comprises a display device, and the apparatus further comprises:
the second motion information submodule is used for sending the motion information to the first graphic workstation through the first real time;
the first scene updating module is used for updating the simulation test scene animation according to the motion information through the first graphic workstation and feeding the updated simulation test scene animation back to the first real-time;
and the mapping module is used for mapping the updated simulation test scene animation to the display equipment through the first real-time moment.
In an optional embodiment, the apparatus further comprises:
and the remote control module is used for remotely controlling the simulation test scene animation in the second graphic workstation through the first graphic workstation.
As shown in fig. 9, the present disclosure also provides another vehicle testing apparatus applied to a target vehicle, the target vehicle including a second graphic workstation, a second real-time and an automatic driving controller, the apparatus including:
a scene animation receiving module 901, configured to receive a simulation test scene animation through the second graphics workstation, and send the simulation test scene animation to the automatic driving controller, where the simulation test scene animation is generated and sent by the first graphics workstation in the remote control system;
the target object information generating module 902 is configured to obtain traffic target object information according to the simulation test scenario through the second graphic workstation, and send the traffic target object information to the second real-time point;
a target object information sending module 903, configured to send traffic target object information to the automatic driving controller at a second real time;
a motion information generating module 904, configured to generate motion information according to the simulation test scene animation and the traffic target information through the automatic driving controller, and send the motion information to a first real-time of the remote control system; the remote control system receives the motion information through the first real-time machine, and obtains a test result according to the motion information.
In an optional embodiment, the target vehicle further includes an inertial navigation device, and the motion information generating module 904 includes:
the control instruction generation module is used for generating a vehicle control instruction according to the simulation test scene animation and the traffic target object information through the automatic driving controller, and the vehicle control instruction is used for controlling a target vehicle to generate motion information;
the motion information acquisition module is used for acquiring motion information through inertial navigation equipment and sending the motion information to a second real-time;
and the second motion information submodule is used for receiving the motion information through the second real-time machine and sending the motion information to the first real-time machine.
In an optional embodiment, the apparatus further comprises:
the third motion information submodule is used for sending the motion information to the second graphic workstation through a second real time;
and the second scene updating module is used for receiving the motion information through the second graphic workstation and updating the simulation test scene animation according to the motion information.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In an exemplary embodiment, there is also provided an electronic device including: a processor; a memory for storing the processor-executable instructions; wherein the processor is used for the instructions to implement a vehicle testing method as in the embodiments of the present disclosure.
Fig. 10 is a block diagram illustrating an electronic device for vehicle testing, which may be a terminal, according to an exemplary embodiment, and an internal structure thereof may be as shown in fig. 10. The electronic device comprises a processor, a memory, a network interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a vehicle testing method. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and does not constitute a limitation on the electronic devices to which the disclosed aspects apply, as a particular electronic device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
In an exemplary embodiment, there is also provided a storage medium having instructions that, when executed by a processor of an electronic device, enable the electronic device to perform a vehicle testing method in an embodiment of the present disclosure.
In an exemplary embodiment, a computer program product containing instructions that, when run on a computer, cause the computer to perform the vehicle testing method in embodiments of the present disclosure is also provided.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided by the present disclosure may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure 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 present disclosure is limited only by the appended claims.
Claims (12)
1. A vehicle testing method, applied to a remote control system comprising a first graphical workstation and a first real time, the method comprising:
generating a simulation test scene animation through the first graphic workstation, and sending the simulation test scene animation to a second graphic workstation of a target vehicle;
receiving motion information through the first real-time machine;
obtaining a test result according to the motion information, wherein the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information;
the traffic target object information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target object information obtained by the second graphic workstation according to the simulation test scene.
2. The method of claim 1, wherein the remote control system further comprises a simulator vehicle, and wherein obtaining test results based on the motion information comprises:
sending the motion information to the simulator vehicle through the first real-time instant;
and receiving the motion information through the simulator vehicle, and generating an action result corresponding to the motion information according to the motion information, wherein the action result belongs to the test result.
3. The method of claim 1, wherein the remote control system further comprises a display device, the method further comprising:
sending the movement information to the first graphics workstation through the first real-time;
updating the simulation test scene animation according to the motion information through the first graphic workstation, and feeding back the updated simulation test scene animation to the first real-time;
and mapping the updated simulation test scene animation to the display equipment through the first real-time.
4. The method of claim 1, further comprising:
and remotely regulating and controlling the simulation test scene animation in the second graphic workstation through the first graphic workstation.
5. A vehicle testing method applied to a target vehicle, the target vehicle including a second graphics workstation, a second real-time, and an autonomous driving controller, the method comprising:
receiving a simulation test scene animation through the second graphic workstation, and sending the simulation test scene animation to the automatic driving controller, wherein the simulation test scene animation is generated and sent by the first graphic workstation in the remote control system;
obtaining traffic target information according to the simulation test scene through the second graphic workstation, and sending the traffic target information to the second real-time;
sending the traffic target object information to the automatic driving controller through the second real-time moment;
generating the motion information according to the simulation test scene animation and the traffic target object information through the automatic driving controller, and sending the motion information to a first real-time of the remote control system; and the remote control system receives the motion information through the first real-time machine and obtains a test result according to the motion information.
6. The method of claim 5, wherein the target vehicle further comprises an inertial navigation device, and wherein generating the motion information from the simulated test scenario animation and the traffic target information via an autopilot controller, sending the motion information to a first real-time instance of the remote control system comprises:
generating a vehicle control instruction according to the simulation test scene animation and the traffic target object information through the automatic driving controller; the vehicle control instruction is used for controlling the target vehicle to generate the motion information;
acquiring the motion information through the inertial navigation equipment, and sending the motion information to the second real-time;
and receiving the motion information through the second real-time machine, and sending the motion information to the first real-time machine.
7. The method of claim 5 or 6, further comprising:
sending the movement information to the second graphics workstation via the second real-time instant;
and receiving the motion information through the second graphic workstation, and updating the simulation test scene animation according to the motion information.
8. A vehicle testing apparatus for use in a remote control system, the remote control system including a first graphics workstation and a first real time, the apparatus comprising:
the scene animation generating module is used for generating simulation test scene animation through the first graphic workstation and sending the simulation test scene animation to a second graphic workstation of the target vehicle;
the motion information receiving module is used for receiving motion information through the first real-time machine;
the test result generating module is used for obtaining a test result according to the motion information, and the motion information is generated by an automatic driving controller of the target vehicle according to the simulation test scene animation and the traffic target object information;
the traffic target object information is sent to the automatic driving controller by a second real-time machine of the target vehicle, and the second real-time machine is used for receiving the traffic target object information obtained by the second graphic workstation according to the simulation test scene.
9. A vehicle testing apparatus, for use with a target vehicle, the target vehicle including a second graphics workstation, a second real-time and an autonomous driving controller, the apparatus comprising:
the scene animation receiving module is used for receiving simulation test scene animations through the second graphic workstation and sending the simulation test scene animations to the automatic driving controller, wherein the simulation test scene animations are generated and sent by the first graphic workstation in the remote control system;
the target object information generating module is used for obtaining traffic target object information according to the simulation test scene through the second graphic workstation and sending the traffic target object information to the second real-time;
the target object information sending module is used for sending the traffic target object information to the automatic driving controller through the second real-time moment;
the motion information generation module is used for generating motion information according to the simulation test scene animation and the traffic target object information through the automatic driving controller and sending the motion information to a first real-time of the remote control system; and the remote control system receives the motion information through the first real-time machine and obtains a test result according to the motion information.
10. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is for the instructions to implement the vehicle testing method of any one of claims 1 to 4, or the vehicle testing method of any one of claims 5 to 7.
11. A storage medium in which instructions, when executed by a processor of an electronic device, enable the electronic device to perform the vehicle testing method of any one of claims 1 to 4, or the vehicle testing method of any one of claims 5 to 7.
12. A computer program product, characterized in that the computer program product comprises a computer program stored in a readable storage medium, from which at least one processor of a computer device reads and executes the computer program, causing the device to perform the vehicle testing method according to any one of claims 1 to 4, or the vehicle testing method according to any one of claims 5 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211329711.4A CN115933586A (en) | 2022-10-27 | 2022-10-27 | Vehicle testing method and device, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211329711.4A CN115933586A (en) | 2022-10-27 | 2022-10-27 | Vehicle testing method and device, electronic equipment and storage medium |
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| CN202211329711.4A Pending CN115933586A (en) | 2022-10-27 | 2022-10-27 | Vehicle testing method and device, electronic equipment and storage medium |
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