CN116361990A - LTE-V2X-based HIL rack ADAS fusion test method and device - Google Patents
LTE-V2X-based HIL rack ADAS fusion test method and device Download PDFInfo
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Abstract
The invention relates to an ADAS fusion test method and device of an HIL rack based on LTE-V2X, wherein the method comprises the following steps: constructing a simulation scene compatible with V2X and ADAS functions; building an automatic test platform with V2X HIL control and ADAS HIL control; generating a real-time synchronous V2X signal and an ADAS signal based on the simulation scene; the tested piece receives the V2X signal through the communication unit and receives the ADAS signal through the corresponding interface; the tested piece fuses the V2X signal and the ADAS signal, makes a decision based on the fusion result, and transmits behavior feedback obtained by the decision to an automatic test platform for display, so that the tested piece is tested. Compared with the prior art, the invention has the advantages of being capable of simultaneously testing ADAS and C-V2X, and the like.
Description
Technical Field
The invention relates to the field of vehicle automation testing, in particular to an ADAS fusion testing method and device of an HIL rack based on LTE-V2X.
Background
In the application development process of the Internet of vehicles system, HIL is required to perform integrated test so as to verify the logic function of software in a real tested terminal. The target hardware used in the HIL system is a complete tested terminal product, establishes connection with equipment such as real-time, signal simulators, GNSS signal generators, V2X signal generators, channel simulators and the like, simulates data interaction with other vehicle terminals and road side equipment in a real communication environment, and verifies whether the tested terminal meets design requirements.
At present, an HIL test system based on LTE-V2X (Long-Term Evolution Vehicle-to-evaluation) tests a vehicle-mounted OBU function, and judges whether the early warning function is normal under different application scenes according to early warning information prompted by an HMI. The system only tests the V2X early warning function of the OBU, and cannot test the ECU (Electronic Control Unit ) and perception fusion decision of the tested vehicle. V2X and ADAS are trends in the future of the automotive industry. After the V2X connection, the automobile is reduced in accident, fuel consumption and the like, and the traffic efficiency is improved. ADAS, as a typical ECU, currently lacks a method to test its perceived fusion decision with V2X.
Disclosure of Invention
The invention aims to provide an ADAS fusion test method and device for an HIL rack based on LTE-V2X, which realize fusion test of V2X and ADAS and improve test efficiency.
The aim of the invention can be achieved by the following technical scheme:
an ADAS fusion test method of an HIL rack based on LTE-V2X comprises the following steps:
constructing a simulation scene compatible with V2X and ADAS functions;
building an automatic test platform with V2X HIL control and ADAS HIL control;
generating a real-time synchronous V2X signal and an ADAS signal based on the simulation scene;
the tested piece receives the V2X signal through the communication unit and receives the ADAS signal through the corresponding interface;
the tested piece fuses the V2X signal and the ADAS signal, makes a decision based on the fusion result, and transmits behavior feedback obtained by the decision to an automatic test platform for display, so that the tested piece is tested.
The automatic test platform automatically controls the GNSS simulator and the V2X PC5 simulator of the V2X HIL system through the SCPI command and the corresponding control communication protocol, automatically controls the ADAS HIL system through the SCPI command, and automatically opens the simulation scene through the Python script.
The generating the real-time synchronous V2X signal and ADAS signal based on the simulation scene comprises the following steps:
acquiring a data information interface required to be filled by V2X, filling the V2X message body according to an ASN.1 format of a layer-by-layer nested logic of message frame- > message body- > data frame- > data element, and encoding according to a UPER mode to generate a V2X signal data set;
generating an ADAS signal data set based on the simulation scene, wherein the ADAS signal data set comprises millimeter wave radar data, laser radar data and camera data;
and performing data synchronization alignment on the V2X signal data set and the ADAS signal data set.
The data synchronization alignment of the V2X signal data set and the ADAS signal data set is specifically as follows:
for a V2X signal data set, transmitting a V2X message according to a preset transmission frequency;
and for the ADAS signal data set, taking the laser radar data with the lowest frequency as a reference, and carrying out ADAS data calibration fusion on the camera data and the millimeter wave radar data by taking a data frame closest to the laser radar as an object.
The ADAS data calibration fusion comprises:
1) Camera sensor fusion:
for a monocular camera, providing a simulation scene for the camera in a screen throwing mode;
for the binocular and multi-view cameras, a signal injection mode is adopted to provide the cameras;
2) Millimeter wave radar sensor fusion:
the radar wave simulator is connected with a plurality of transmitting antennas and a plurality of receiving antennas, and is used for simulating a plurality of target objects in a cooperative mode, and simulating the relative distance, the relative speed, the RCS and the horizontal angle of the target objects; the receiving and transmitting antenna group simulates various advanced test scenes of the vehicle through the rapid switching of the electronic switch;
3) Laser radar sensor fusion:
according to the actual demands of users, the installation position, the detection range and the line number of the laser radar are customized in a simulation scene, and each reflection point comprises a distance, a horizontal angle and a vertical angle.
An ADAS fusion testing device of an HIL rack based on LTE-V2X, comprising:
the simulation module is used for constructing a simulation scene compatible with the V2X and ADAS functions and simulating the simulation scene to generate a V2X signal and an ADAS signal which are synchronous in real time;
the automatic test platform is used for realizing V2X HIL control and ADAS HIL control, automatically starting a simulation scene and displaying the behavior feedback of the tested piece;
the transmission module is used for transmitting the V2X signal generated by the simulation scene to the communication module of the tested piece and transmitting the ADAS signal generated by the simulation scene to the tested piece through the corresponding interface;
the receiving module is used for receiving the behavior feedback obtained by the fusion of the V2X signal and the ADAS signal by the tested piece and making a decision based on the fusion result, and transmitting the behavior feedback to the automatic test platform for display.
The automatic test platform automatically controls the GNSS simulator and the V2X PC5 simulator of the V2X HIL system through the SCPI command and the corresponding control communication protocol, automatically controls the ADAS HIL system through the SCPI command, and automatically opens the simulation scene through the Python script.
The simulation module generates a V2X signal and an ADAS signal which are synchronous in real time, and comprises the following steps:
acquiring a data information interface required to be filled by V2X, filling the V2X message body according to an ASN.1 format of a layer-by-layer nested logic of message frame- > message body- > data frame- > data element, and encoding according to a UPER mode to generate a V2X signal data set;
generating an ADAS signal data set based on the simulation scene, wherein the ADAS signal data set comprises millimeter wave radar data, laser radar data and camera data;
and performing data synchronization alignment on the V2X signal data set and the ADAS signal data set.
The data synchronization alignment of the V2X signal data set and the ADAS signal data set is specifically as follows:
for a V2X signal data set, transmitting a V2X message according to a preset transmission frequency;
and for the ADAS signal data set, taking the laser radar data with the lowest frequency as a reference, and carrying out ADAS data calibration fusion on the camera data and the millimeter wave radar data by taking a data frame closest to the laser radar as an object.
The ADAS data calibration fusion comprises:
1) Camera sensor fusion:
for a monocular camera, providing a simulation scene for the camera in a screen throwing mode;
for the binocular and multi-view cameras, a signal injection mode is adopted to provide the cameras;
2) Millimeter wave radar sensor fusion:
the radar wave simulator is connected with a plurality of transmitting antennas and a plurality of receiving antennas, and is used for simulating a plurality of target objects in a cooperative mode, and simulating the relative distance, the relative speed, the RCS and the horizontal angle of the target objects; the receiving and transmitting antenna group simulates various advanced test scenes of the vehicle through the rapid switching of the electronic switch;
3) Laser radar sensor fusion:
according to the actual demands of users, the installation position, the detection range and the line number of the laser radar are customized in a simulation scene, and each reflection point comprises a distance, a horizontal angle and a vertical angle.
Compared with the prior art, the invention has the following beneficial effects:
(1) The testing method of the invention can not only verify the V2X function application of the intelligent network-connected automobile, but also verify the fusion decision result of the V2X and ADAS functions, can meet the requirements of automatic driving of more than L3 level in the future on the technical verification of the combination of ADAS and C-V2X, and can quantitatively test and evaluate the functions and performances of the vehicle-mounted intelligent computing platform.
(2) The invention integrates various vehicle sensor test interfaces and real-time machines, and utilizes scene simulation software to synchronously provide signal excitation of V2X, cameras, laser radars, millimeter wave radars and ultrasonic radars in the same test scene.
(3) According to the invention, excitation signals of different sensors are respectively provided through simulation scenes and are fused, so that the ring test can be performed on the functions of a single sensor or any sensor combination, verification and evaluation of intelligent driving key components can be facilitated for a host factory, positioning analysis of functional defects after fusion of various sensors can be realized, the research and development period is greatly shortened, and the research and development efficiency is improved.
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FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
The invention can carry out logic test of functional algorithm aiming at various vehicle-mounted ECUs (ADAS and V2X) integrated with various vehicle sensors. The sensor types include: V2X, camera, laser radar, millimeter wave radar, ultrasonic radar. The system can generalize the test case library by producing various application scenes through the test scene simulation software. Aiming at the main stream functions of the market, special working conditions can be customized and developed for manufacturers, boundary conditions are tested, test case coverage rate and test efficiency are improved, actual vehicle test mileage is reduced, and research and development period is shortened. The test scene simulation platform is provided with rich IO interfaces and covers the main stream products. Such as a common CAN signal, an ethernet signal, etc.
The upper computer runs the test scene through simulation software, and related running parameters are as follows: the speed, steering wheel angle, accelerator pedal opening, target movement information and other signals are transmitted in two paths, and one path is transmitted to various sensor controllers through a CAN card; the other path is sent to various simulators, including V2X, via ethernet. For example, the V2X and GNSS signal simulators receive real-time simulation machine target motion information and motion information of the tested vehicle, the motion information is sent to the OBU through an air interface, the OBU obtains the relative position and speed of the tested vehicle and the background vehicle through calculation after receiving signals, and the relative position and speed are sent to the V2X ECU. Meanwhile, the millimeter wave radar, the laser radar, the camera and other sensors are communicated through a CAN network, and the identified target parameters are sent to the ADSA ECU. And then data fusion of various sensors is realized through a fusion algorithm, target information is output, a vehicle-mounted computing platform makes a decision through V2X and an ADAS ECU, and then a related control strategy is made, and the obtained strategy is sent to a real time through a CAN card again and is intuitively displayed in a test scene. The data signal forms a closed loop throughout the test.
Specifically, the embodiment provides an ADAS fusion test method of an HIL rack based on LTE-V2X, as shown in fig. 1, including the following steps:
s1: and constructing a simulation scene compatible with V2X and ADAS functions.
In this embodiment, scene software supporting the Open X series standard such as VTD is used, and different simulation scenes are edited according to the categories of regulations, standard working conditions, traffic accidents, and the like.
The simulation scene supports the import of Open series map files and scene editing; supporting visual 3D display of simulation scenes; supporting real-time simulation of the motion track of the main vehicle, and issuing the motion track to a V2X OBU through a V2X simulator; supporting the simulation host vehicle information to be sent to the V2X OBU through various interfaces (CAN, ethernet, etc.); supporting simulation of a plurality of pairs of handcarts (not less than 200) and road side equipment information; supporting to acquire main stream OBU and RSU equipment early warning application messages and displaying the main stream OBU and RSU equipment early warning application messages on a simulation platform; and recording and storing the message content of the DUT at the triggering moment, and giving out a function judging result according to the response time of the early warning message in the DUT product manual.
The scene simulation can generate scene test cases, so that DAY1 and CSAE157-2020DAY2 application scenes (excluding payment scenes) in the CSAE 53-2020 standard are met, a plurality of test cases can be generalized in each scene, and the boundary condition test requirements are met; the function of the DUT in the accident scene can be verified by twinning according to the actual traffic scene.
S2: an automatic test platform with V2X HIL control and ADAS HIL control is built.
The automatic test platform automatically controls the GNSS simulator and the V2X PC5 simulator of the V2X HIL system through the SCPI command and the corresponding control communication protocol, automatically controls the ADAS HIL system through the SCPI command, and automatically opens the simulation scene through the Python script.
In this embodiment, the automated test platform may create and edit test cases; a test list can be generated to support import and export; the flow of the test task can be controlled and managed, automatic operation is supported, suspension, ending and the like; the method can automatically generate a test report based on XML (extensible markup language) and PDF (portable document format) and the format of the test report can be customized according to requirements; the data in the test process is supported to be recorded and played back when needed; and the original data of the operation is supported to be exported, so that the processing analysis is convenient to carry out outside.
S3: and generating a real-time synchronous V2X signal and an ADAS signal based on the simulation scene.
S31: the method comprises the steps of acquiring a data information interface required to be filled by V2X, filling the V2X message body according to an ASN.1 format of a layer-by-layer nested logic of message frame- > message body- > data frame- > data element, and encoding according to a UPER mode to generate a V2X signal data set comprising BSM, RSI, RSM, SPAT, MAP and the like.
S32: and generating an ADAS signal data set based on the simulation scene, wherein the ADAS signal data set comprises millimeter wave radar data, laser radar data and camera data.
S33: and performing data synchronization alignment on the V2X signal data set and the ADAS signal data set.
S331: for the V2X signal data set, transmitting a V2X message according to the 10Hz transmitting frequency specified by the national standard;
s332: and for the ADAS signal data set, taking the laser radar data with the lowest frequency as a reference, and carrying out ADAS data calibration fusion on the camera data and the millimeter wave radar data by taking a data frame closest to the laser radar as an object.
ADAS data calibration fusion includes:
1) Camera sensor fusion:
for a monocular camera, providing a simulation scene for the camera in a screen throwing mode;
for binocular and multi-view cameras, a signal injection mode is adopted to provide for the cameras.
2) Millimeter wave radar sensor fusion:
the radar wave simulator is connected with a plurality of transmitting antennas and a plurality of receiving antennas, and is used for simulating a plurality of target objects in a cooperative mode, and simulating the relative distance, the relative speed, the RCS and the horizontal angle of the target objects; the receiving and transmitting antenna group simulates various advanced test scenes such as transverse cutting-in of a vehicle and the like through quick switching of an electronic switch.
3) Laser radar sensor fusion:
according to the actual demands of users, the installation position, the detection range and the line number of the laser radar are customized in a simulation scene, each reflection point comprises a distance, a horizontal angle and a vertical angle, the attributes such as resolution, FOV and the like can be conveniently configured, and the perception algorithm of the laser radar is verified.
In another embodiment, the method may further include:
4) Fusion of ultrasonic radar sensors:
by adopting the echo simulator, the ultrasonic wave emitted by the sensor to be detected can be accurately identified through the signal conditioning module. The echo intensity and duration are adjustable.
Meanwhile, the simulation software can generate a 3D simulation scene: real-time surrounding vehicle state, motion trail, roadside equipment state information, etc., including accurate vehicle models (e.g., engine, chassis, body, suspension, drive, steering, sensors, etc.); road models, traffic environment models, driver models, and vehicle operating condition sequences may be generated through the GUI. The high-precision map is supported to be imported (SHP, opendrive format, etc.). Simulation software simulates and generates V2X standard communication data (BSM, RSI, RSM, MAP, SPAT and the like), sends the V2X standard communication data to a tested terminal through a channel simulator, and sends satellite signal data in the simulation software to the tested terminal through a vector signal source for simulating positioning information of a host vehicle; the state information of the host vehicle is sent to the tested terminal through the signal simulator and is used for simulating the tested terminal to receive the host vehicle data (brake, steering, lane information and the like).
S4: the tested piece receives the V2X signal through the communication unit and receives the ADAS signal through the corresponding interface.
S5: the tested piece fuses the V2X signal and the ADAS signal, makes a decision based on the fusion result, and transmits behavior feedback obtained by the decision to an automatic test platform for display, so that the tested piece is tested.
The process of fusing the V2X signal and the ADAS signal by the tested piece and making a decision based on the fusion result specifically belongs to conventional settings in the art, and is not described herein in detail for the purpose of avoiding ambiguity in the present application.
The vehicle control signal obtained by the tested piece is sent to the vehicle kinematic model through CAN or LAN, so that the response result of the test case, namely the behavior feedback, is obtained, the response result is sent to the test vehicle-mounted HMI, the HMI communicates with the automatic test platform through the zebra protocol, and the decision result is displayed.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by a person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (10)
1. An ADAS fusion test method of an HIL rack based on LTE-V2X is characterized by comprising the following steps:
constructing a simulation scene compatible with V2X and ADAS functions;
building an automatic test platform with V2X HIL control and ADAS HIL control;
generating a real-time synchronous V2X signal and an ADAS signal based on the simulation scene;
the tested piece receives the V2X signal through the communication unit and receives the ADAS signal through the corresponding interface;
the tested piece fuses the V2X signal and the ADAS signal, makes a decision based on the fusion result, and transmits behavior feedback obtained by the decision to an automatic test platform for display, so that the tested piece is tested.
2. The method for testing the ADAS fusion of the HIL rack based on the LTE-V2X according to claim 1, wherein the automatic test platform automatically controls a GNSS simulator and a V2X PC5 simulator of the V2X HIL system through an SCPI command and a corresponding control communication protocol, automatically controls the ADAS HIL system through the SCPI command, and automatically opens a simulation scene through a Python script.
3. The method for ADAS fusion testing of an HIL rack based on LTE-V2X according to claim 1, wherein the generating the real-time synchronized V2X signal and ADAS signal based on the simulation scene comprises the steps of:
acquiring a data information interface required to be filled by V2X, filling the V2X message body according to an ASN.1 format of a layer-by-layer nested logic of message frame- > message body- > data frame- > data element, and encoding according to a UPER mode to generate a V2X signal data set;
generating an ADAS signal data set based on the simulation scene, wherein the ADAS signal data set comprises millimeter wave radar data, laser radar data and camera data;
and performing data synchronization alignment on the V2X signal data set and the ADAS signal data set.
4. The method for performing ADAS fusion test on an HIL rack based on LTE-V2X according to claim 3, wherein the performing data synchronization alignment on the V2X signal data set and the ADAS signal data set specifically comprises:
for a V2X signal data set, transmitting a V2X message according to a preset transmission frequency;
and for the ADAS signal data set, taking the laser radar data with the lowest frequency as a reference, and carrying out ADAS data calibration fusion on the camera data and the millimeter wave radar data by taking a data frame closest to the laser radar as an object.
5. The ADAS fusion test method of the HIL rack based on LTE-V2X according to claim 4, wherein the ADAS data calibration fusion comprises:
1) Camera sensor fusion:
for a monocular camera, providing a simulation scene for the camera in a screen throwing mode;
for the binocular and multi-view cameras, a signal injection mode is adopted to provide the cameras;
2) Millimeter wave radar sensor fusion:
the radar wave simulator is connected with a plurality of transmitting antennas and a plurality of receiving antennas, and is used for simulating a plurality of target objects in a cooperative mode, and simulating the relative distance, the relative speed, the RCS and the horizontal angle of the target objects; the receiving and transmitting antenna group simulates various advanced test scenes of the vehicle through the rapid switching of the electronic switch;
3) Laser radar sensor fusion:
according to the actual demands of users, the installation position, the detection range and the line number of the laser radar are customized in a simulation scene, and each reflection point comprises a distance, a horizontal angle and a vertical angle.
6. An ADAS fusion testing device of an HIL rack based on LTE-V2X, comprising:
the simulation module is used for constructing a simulation scene compatible with the V2X and ADAS functions and simulating the simulation scene to generate a V2X signal and an ADAS signal which are synchronous in real time;
the automatic test platform is used for realizing V2X HIL control and ADAS HIL control, automatically starting a simulation scene and displaying the behavior feedback of the tested piece;
the transmission module is used for transmitting the V2X signal generated by the simulation scene to the communication module of the tested piece and transmitting the ADAS signal generated by the simulation scene to the tested piece through the corresponding interface;
the receiving module is used for receiving the behavior feedback obtained by the fusion of the V2X signal and the ADAS signal by the tested piece and making a decision based on the fusion result, and transmitting the behavior feedback to the automatic test platform for display.
7. The ADAS fusion test device of the LTE-V2X-based HIL rack of claim 6, wherein the automated test platform automatically controls a GNSS simulator and a V2X PC5 simulator of the V2X HIL system through SCPI commands and corresponding control communication protocols, automatically controls the ADAS HIL system through the SCPI commands, and automatically opens a simulation scene through a Python script.
8. The ADAS fusion test setup of an LTE-V2X based HIL rack of claim 6, wherein the simulation module generates real-time synchronized V2X signals and ADAS signals comprising the steps of:
acquiring a data information interface required to be filled by V2X, filling the V2X message body according to an ASN.1 format of a layer-by-layer nested logic of message frame- > message body- > data frame- > data element, and encoding according to a UPER mode to generate a V2X signal data set;
generating an ADAS signal data set based on the simulation scene, wherein the ADAS signal data set comprises millimeter wave radar data, laser radar data and camera data;
and performing data synchronization alignment on the V2X signal data set and the ADAS signal data set.
9. The ADAS fusion test device of the HIL rack based on LTE-V2X according to claim 8, wherein the data synchronization alignment of the V2X signal data set and the ADAS signal data set is specifically:
for a V2X signal data set, transmitting a V2X message according to a preset transmission frequency;
and for the ADAS signal data set, taking the laser radar data with the lowest frequency as a reference, and carrying out ADAS data calibration fusion on the camera data and the millimeter wave radar data by taking a data frame closest to the laser radar as an object.
10. The ADAS fusion test device of the HIL rack based on LTE-V2X according to claim 9, wherein the ADAS data calibration fusion comprises:
1) Camera sensor fusion:
for a monocular camera, providing a simulation scene for the camera in a screen throwing mode;
for the binocular and multi-view cameras, a signal injection mode is adopted to provide the cameras;
2) Millimeter wave radar sensor fusion:
the radar wave simulator is connected with a plurality of transmitting antennas and a plurality of receiving antennas, and is used for simulating a plurality of target objects in a cooperative mode, and simulating the relative distance, the relative speed, the RCS and the horizontal angle of the target objects; the receiving and transmitting antenna group simulates various advanced test scenes of the vehicle through the rapid switching of the electronic switch;
3) Laser radar sensor fusion:
according to the actual demands of users, the installation position, the detection range and the line number of the laser radar are customized in a simulation scene, and each reflection point comprises a distance, a horizontal angle and a vertical angle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116782277A (en) * | 2023-08-28 | 2023-09-19 | 北京云驰未来科技有限公司 | Distributed deployment system for vehicle-mounted C-V2X |
| CN116909260A (en) * | 2023-09-12 | 2023-10-20 | 常州星宇车灯股份有限公司 | Intelligent driving domain controller test verification method for simulating HIL (high-performance liquid chromatography) rack |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116782277A (en) * | 2023-08-28 | 2023-09-19 | 北京云驰未来科技有限公司 | Distributed deployment system for vehicle-mounted C-V2X |
| CN116782277B (en) * | 2023-08-28 | 2023-11-14 | 北京云驰未来科技有限公司 | Distributed deployment system for vehicle-mounted C-V2X |
| CN116909260A (en) * | 2023-09-12 | 2023-10-20 | 常州星宇车灯股份有限公司 | Intelligent driving domain controller test verification method for simulating HIL (high-performance liquid chromatography) rack |
| CN116909260B (en) * | 2023-09-12 | 2023-12-01 | 常州星宇车灯股份有限公司 | Intelligent driving domain controller test verification method for simulating HIL (high-performance liquid chromatography) rack |
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