CN116449806A

CN116449806A - Vehicle information fusion control function test method and system based on safety layer information

Info

Publication number: CN116449806A
Application number: CN202310698928.0A
Authority: CN
Inventors: 赵鹏超; 黄云亮; 赵帅; 杜志彬; 王凤娇; 张东泽; 翟洋; 沈永旺
Original assignee: Zhongqi Zhilian Technology Co ltd; China Automotive Technology and Research Center Co Ltd; Automotive Data of China Tianjin Co Ltd
Current assignee: Zhongqi Zhilian Technology Co ltd; China Automotive Technology and Research Center Co Ltd; Automotive Data of China Tianjin Co Ltd
Priority date: 2023-06-14
Filing date: 2023-06-14
Publication date: 2023-07-18
Anticipated expiration: 2043-06-14
Also published as: CN116449806B

Abstract

The application relates to the technical field of simulation and discloses a vehicle information fusion control function test method and system based on safety layer information. The method comprises the following steps: constructing a simulated traffic scene for testing by using a scene simulation module; the automatic driving simulation module sends the information of the vehicle-mounted sensor of the main vehicle to the tested fusion function controller; the security layer protocol stack acquires security certificate information; the vehicle-to-outside information exchange simulation module acquires the position information of the main vehicle, the remote vehicle information and the road side unit information, determines the safe remote vehicle information and the safe road side unit information based on the safety certificate information, and sends the safe remote vehicle information and the safe road side unit information as well as the position information of the main vehicle to the tested fusion function controller; the tested fusion function controller performs fusion analysis to generate a main vehicle control instruction; the function evaluation module acquires a main vehicle control instruction and evaluates the tested fusion function controller based on the current simulated traffic scene and the main vehicle control instruction.

Description

Vehicle information fusion control function test method and system based on safety layer information

Technical Field

The invention relates to the field of simulation, in particular to a vehicle information fusion control function test method and system based on safety layer information.

Background

Because of the problems of large investment, high cost, unhealthy infrastructure, large environmental impact and the like in the automatic driving of the bicycle intelligent implementation, the bicycle intelligent gradually goes to a bottleneck period, based on the bottleneck period, the industrialization process of the Internet of vehicles is gradually accelerated, and the automatic driving based on the cooperation of the bicycle and the road is a future development trend through the technology of fusing the bicycle intelligent with C-V2X (Cellular-vehicle to everything, cellular Internet of vehicles) and the like. But currently, the research on new application functions after the integration of bicycle intelligence and V2X (vehicle to everything, information exchange of the bicycle to the outside) technology is relatively few and the research on good research, verification environment and related research tools are lacked. Although the established Internet of vehicles lead area in China can carry out the verification of the fusion cooperative control function, the research and the exploration of the fusion function are not very convenient to implement, and the scene reproducibility is poor.

In addition, in the internet of vehicles communication process, the in-vehicle network is always regarded as an absolute safe closed network, and once an external illegal network or equipment is accessed, a serious information safety problem is introduced, so that confidentiality of the internet of vehicles communication and life safety of a driver are seriously threatened.

In view of this, the present invention has been made.

Disclosure of Invention

In order to solve the technical problems, the invention provides a vehicle information fusion control function test method and system based on safety layer information, which can simply and conveniently test the fusion system control function of bicycle intelligence and V2X technology on the basis of meeting the test scene requirement, and simultaneously can ensure the safety and reliability of the information acquired in the test process by introducing the safety layer information.

The embodiment of the application provides a vehicle information fusion control function test method based on safety layer information, the method is executed by a vehicle information fusion control function test system based on the safety layer information, the vehicle information fusion control function test system based on the safety layer information comprises a scene simulation module, an automatic driving simulation module, a safety layer protocol stack, a vehicle-to-outside information exchange simulation module, a tested fusion function controller, a function evaluation module and a real-time machine, and the method comprises the following steps:

constructing a simulated traffic scene for testing by using the scene simulation module;

before testing, the automatic driving simulation module deploys a main vehicle simulation model to the real time so that the main vehicle simulation model is displayed in a simulated traffic scene for testing;

During testing, the automatic driving simulation module acquires information of a vehicle-mounted sensor of a main vehicle based on a current simulation traffic scene, and sends the information of the vehicle-mounted sensor of the main vehicle to the tested fusion function controller through the real-time machine;

the safety layer protocol stack acquires safety certificate information corresponding to a remote vehicle and a road side unit from a safety certificate authentication platform in real time based on a current simulation scene, and sends the safety certificate information to an information exchange simulation module of the vehicle to the outside;

the information exchange simulation module of the vehicle to the outside obtains main vehicle position information, far vehicle information and road side unit information based on the current simulation traffic scene, determines whether the far vehicle information and the road side unit information accord with a safety standard based on the safety certificate information, and if so, sends the main vehicle position information, the safety far vehicle information accord with the safety standard and the safety road side unit information accord with the safety standard to the tested fusion function controller through the real-time machine;

the tested fusion function controller carries out fusion analysis based on the information of the vehicle-mounted sensor of the main vehicle, the position information of the main vehicle, the information of the safe remote vehicle and the information of the safe road side unit, and generates a main vehicle control instruction;

And the function evaluation module acquires the main vehicle control instruction and evaluates the tested fusion function controller based on the current simulated traffic scene and the main vehicle control instruction.

The embodiment of the application provides a vehicle information fusion control function test system based on safety layer information, which is used for executing the vehicle information fusion control function test method based on the safety layer information, and comprises a scene simulation module, an automatic driving simulation module and a vehicle-to-outside information exchange simulation module which are connected with the scene simulation module, a safety layer protocol stack which is connected with the vehicle-to-outside information exchange simulation module, a real-time machine which is connected with the scene simulation module, the automatic driving simulation module and the vehicle-to-outside information exchange simulation module, a tested fusion function controller which is connected with the real-time machine, and a function evaluation module which is connected with the tested fusion function controller and the scene simulation module, wherein:

the scene simulation module is used for constructing a simulation traffic scene for testing;

before testing, the automatic driving simulation module is used for deploying a main vehicle simulation model to the real time so that the main vehicle simulation model is displayed in a simulated traffic scene for testing;

During testing, the automatic driving simulation module is used for acquiring information of a vehicle-mounted sensor of a main vehicle based on a current simulated traffic scene and sending the information of the vehicle-mounted sensor of the main vehicle to the tested fusion function controller through the real-time machine;

the safety layer protocol stack is used for acquiring safety certificate information corresponding to a remote vehicle and a road side unit from a safety certificate authentication platform in real time based on a current simulation scene, and sending the safety certificate information to the information exchange simulation module of the vehicle to the outside;

the vehicle-to-outside information exchange simulation module is used for acquiring main vehicle position information, far vehicle information and road side unit information based on a current simulation traffic scene, determining whether the far vehicle information and the road side unit information accord with a safety standard based on the safety certificate information, and if so, transmitting the main vehicle position information, the safety far vehicle information accord with the safety standard and the safety road side unit information accord with the safety standard to the tested fusion function controller through the real-time machine;

the tested fusion function controller is used for carrying out fusion analysis based on the information of the vehicle-mounted sensor of the main vehicle, the position information of the main vehicle, the information of the safe remote vehicle and the information of the safe road side unit, and generating a main vehicle control instruction;

The function evaluation module is used for acquiring the main vehicle control instruction and evaluating the tested fusion function controller based on the current simulated traffic scene and the main vehicle control instruction.

The embodiment of the application has the following technical effects:

the scene simulation module is utilized to construct a simulation traffic scene for test, different traffic scenes can be set according to test requirements, the requirements of different scenes are met, and the reproducibility of the traffic scenes can be realized; the automatic driving simulation module and the vehicle-to-outside information exchange simulation module are arranged, the automatic driving simulation module is utilized to acquire vehicle-mounted sensor information in the current simulation traffic scene and send the vehicle-mounted sensor information to the tested fusion function controller, the vehicle-to-outside information exchange simulation module is utilized to acquire host vehicle position information, far vehicle information and road side unit information in the current simulation traffic scene, the safety layer protocol stack is utilized to acquire safety certificate information corresponding to the far vehicle and the road side unit, the vehicle-to-outside information exchange simulation module determines whether the far vehicle information and the road side unit information accord with safety standards or not based on the safety certificate information, safety and reliability of communication information in a testing process are guaranteed, the vehicle-to-outside information exchange simulation module sends the host vehicle position information, the safety far vehicle information and the safety road side unit information to the tested fusion function controller, and the tested fusion function controller makes a decision instruction according to the received information with the same time stamp and evaluates the decision instruction of the tested fusion function controller by utilizing the function evaluation module, and the single vehicle intelligent and V2X technology fusion system control function can be tested simply and conveniently.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a vehicle information fusion control function testing method based on security layer information according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a vehicle information fusion control function test system based on security layer information according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of another vehicle information fusion control function test system based on security layer information according to an embodiment of the present application.

In the figure: 1. a scene simulation module; 2. an autopilot simulation module; 3. the vehicle-to-outside information exchange simulation module; 4. a fusion function controller to be tested; 5. a function evaluation module; 6. real time; 7. a security layer protocol stack; 31. the vehicle-to-outside information exchange simulation unit; 32. a PC5 emulator; 33. a satellite signal simulator; 34. a main vehicle-mounted unit; 311. a scene data subunit; 312. a message collection subunit; 313. a satellite signal simulator interface subunit; 314. and the information exchange interface subunit is used for the outside of the vehicle.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the invention, are within the scope of the invention.

Fig. 1 is a schematic flow chart of a vehicle information fusion control function testing method based on security layer information according to an embodiment of the present application. The method is executed by a vehicle information fusion control function test system based on safety layer information, the vehicle information fusion control function test system based on the safety layer information comprises a scene simulation module, an automatic driving simulation module, a safety layer protocol stack, a vehicle-to-outside information exchange simulation module, a tested fusion function controller, a function evaluation module and a real-time machine, and the vehicle information fusion control function test method based on the safety layer information comprises the following steps:

s110, constructing a simulated traffic scene for testing by using the scene simulation module.

The scene simulation module is used for providing a simulation traffic scene which is set according to the requirement of a test environment, and can comprise a road on which a vehicle runs, a simulation model of other vehicles (namely, a far vehicle different from a main vehicle), a simulation model of a traffic infrastructure (comprising a road side unit), pedestrians and the like, wherein the simulation model of the traffic infrastructure preferably has a vehicle-to-outside information exchange function.

And S120, before testing, the automatic driving simulation module deploys the main vehicle simulation model to the real time so that the main vehicle simulation model is displayed in a simulated traffic scene for testing.

And S130, during testing, the automatic driving simulation module acquires information of the vehicle-mounted sensor of the main vehicle based on the current simulated traffic scene, and sends the information of the vehicle-mounted sensor of the main vehicle to the tested fusion function controller through the real-time machine.

The main vehicle simulation model is a simulation model of a vehicle corresponding to the tested fusion function controller. The real-time machine is used for deploying and running the host vehicle simulation model in real time and completing the receiving and forwarding of the related information. The tested fusion function controller is a test object in the embodiment, and can receive information sent by the automatic driving simulation module and the information exchange simulation module of the vehicle to the outside through real time based on the simulated traffic scene at the same time, and perform fusion analysis based on the received information so as to determine a main vehicle control strategy. The information of the on-board sensor of the main vehicle is information of traffic participants acquired by the on-board sensor of the main vehicle in the current simulated traffic scene, wherein the traffic participants can comprise distant vehicles, road side units, pedestrians and the like in the simulated traffic scene.

Optionally, the automatic driving simulation module may include vehicle dynamics simulation software and test management software, where the vehicle dynamics simulation software may provide a host vehicle simulation model associated with the fusion function controller under test, and deploy the host vehicle simulation model to a real time, so that the host vehicle simulation model is displayed in the test simulation traffic scenario for subsequent test use. The test management software is used for acquiring the information of the traffic participants through the vehicle-mounted sensors of the main vehicle and sending the information of the traffic participants to the tested fusion function controller.

And S140, the safety layer protocol stack acquires safety certificate information corresponding to the remote vehicle and the road side unit from the safety certificate authentication platform in real time based on the current simulation scene, and sends the safety certificate information to the information exchange simulation module of the vehicle to the outside.

In this embodiment, the security layer protocol stack is connected to a security certificate authentication platform (i.e., CA (Certificate Authority, certificate authority) certificate platform) in advance, where the security certificate authentication platform stores security certificate information corresponding to different vehicles and road side units. In the specific application process, the security layer protocol stack can acquire the security certificate information of the corresponding vehicle, road side unit and the like in real time according to the test requirement.

S150, the information exchange simulation module of the vehicle to the outside obtains the position information of the main vehicle, the information of the far vehicle and the information of the road side unit based on the current simulated traffic scene, determines whether the information of the far vehicle and the information of the road side unit meet the safety standard based on the safety certificate information, and if so, sends the position information of the main vehicle, the information of the safe far vehicle meeting the safety standard and the information of the safe road side unit meeting the safety standard to the tested fusion function controller through the real-time machine.

In this embodiment, the vehicle-to-external information exchange simulation module, i.e., the V2X (vehicle to everything) simulation module, where the vehicle refers to a host vehicle, and includes a host vehicle On-board Unit (host vehicle OBU, on board Unit, which is a hardware device), and the external environment includes, but is not limited to, a remote vehicle On-board Unit, a road side Unit, a signal lamp controller capable of sending related signals, and a base station. Optionally, the host vehicle position information includes information such as longitude and latitude of the host vehicle, the remote vehicle information includes information such as longitude and latitude of the remote vehicle, altitude, speed, acceleration, distance from the host vehicle, and the road side unit information includes information such as longitude and latitude of the road side unit, altitude, distance from the host vehicle, and the like.

By introducing the safety certificate information, the information received and transmitted by the V2X simulation module and the testing state can be ensured to be consistent with the real testing scene in the testing process, and the safety of the information is ensured. The remote information and the road side unit information received by the information exchange simulation module of the vehicle to the outside each time can be in accordance with the safety standard corresponding to the safety certificate or not in accordance with the safety standard, and can be determined by verification based on the safety certificate information. The safety remote car information is remote car information meeting safety standards, and the safety road side unit information is road side unit information meeting safety standards. In this embodiment, the remote vehicle information and the road side unit information which are finally sent to the tested fusion function controller through the CAN port or the network port at real time should preferably meet the safety standard, and the remote vehicle information and the road side unit information which do not meet the safety standard should be discarded.

And S160, the tested fusion function controller carries out fusion analysis based on the information of the vehicle-mounted sensor of the main vehicle, the position information of the main vehicle, the information of the safe remote vehicle and the information of the safe road side unit, and generates a main vehicle control instruction.

In this embodiment, the detected fusion function controller may further acquire own vehicle state information, where the own vehicle state information includes information such as a host vehicle speed, an acceleration, an angular velocity, and the like. The tested fusion function controller can utilize the state information of the own vehicle, the information of the vehicle-mounted sensor of the main vehicle, the position information of the main vehicle, the information of the safe remote vehicle and the information of the safe road side unit to carry out fusion analysis, so as to obtain a main vehicle control instruction. It is understood that the own vehicle state information, the host vehicle on-vehicle sensor information, the host vehicle position information, the safe remote vehicle information, the safe road side unit information, and the like all have the same time stamp.

It can be understood that after the tested fusion function controller generates the main vehicle control instruction, the main vehicle control instruction can be sent to real time, the real time machine controls the main vehicle simulation model to respond based on the main vehicle control instruction, and the response of the main vehicle simulation model according to the main vehicle control instruction is dynamically displayed in the current simulation traffic scene, so that the control function of the tested fusion function controller can be intuitively evaluated.

S170, the function evaluation module acquires the main vehicle control instruction and evaluates the tested fusion function controller based on the current simulated traffic scene and the main vehicle control instruction.

Optionally, preset host vehicle control instructions corresponding to different simulated traffic scenes are preset in the function evaluation module, and if the deviation between the host vehicle control instruction corresponding to the current simulated traffic scene and the preset host vehicle control instruction exceeds a preset deviation range, the tested fusion function controller can be determined to be tested to be up to standard, and if the deviation between the host vehicle control instruction corresponding to the current simulated traffic scene and the preset host vehicle control instruction is within the preset deviation range, the tested fusion function controller can be determined to be tested to be up to standard.

The embodiment has the following technical effects: the scene simulation module is utilized to construct a simulation traffic scene for test, different traffic scenes can be set according to test requirements, the requirements of different scenes are met, and the reproducibility of the traffic scenes can be realized; the automatic driving simulation module and the vehicle-to-outside information exchange simulation module are arranged, the automatic driving simulation module is utilized to acquire vehicle-mounted sensor information in the current simulation traffic scene and send the vehicle-mounted sensor information to the tested fusion function controller, the vehicle-to-outside information exchange simulation module is utilized to acquire host vehicle position information, far vehicle information and road side unit information in the current simulation traffic scene, the safety layer protocol stack is utilized to acquire safety certificate information corresponding to the far vehicle and the road side unit, the vehicle-to-outside information exchange simulation module determines whether the far vehicle information and the road side unit information accord with safety standards or not based on the safety certificate information, safety and reliability of communication information in a testing process are guaranteed, the vehicle-to-outside information exchange simulation module sends the host vehicle position information, the safety far vehicle information and the safety road side unit information to the tested fusion function controller, and the tested fusion function controller makes a decision instruction according to the received information with the same time stamp and evaluates the decision instruction of the tested fusion function controller by utilizing the function evaluation module, and the single vehicle intelligent and V2X technology fusion system control function can be tested simply and conveniently.

On the basis of the above embodiments, the vehicle-to-outside information exchange simulation module further includes a vehicle-to-outside information exchange simulation unit, a PC5 simulator, a satellite signal simulator, and a main vehicle on-board unit, where the vehicle-to-outside information exchange simulation module obtains main vehicle position information, far vehicle information, and road side unit information based on a current simulated traffic scene, determines whether the far vehicle information and the road side unit information meet a safety standard based on the safety certificate information, and if so, sends the main vehicle position information, the safety far vehicle information meeting the safety standard, and the safety road side unit information meeting the safety standard to the tested fusion function controller through the real-time machine, where the method includes:

the vehicle-to-outside information exchange simulation unit acquires the host vehicle position information, the far vehicle information and the road side unit information based on the current simulation traffic scene, adds the received safety certificate information into the far vehicle information and the road side unit information to obtain the far vehicle information with safety layer information and the road side unit information with safety layer information, sends the host vehicle position information to the satellite signal simulator, and sends the far vehicle information with safety layer information and the road side unit information with safety layer information to the PC5 simulator;

The host vehicle on-board unit receives satellite signals of the host vehicle position information and the remote vehicle information with the safety layer information and the road side unit information with the safety layer information, which are broadcast by the satellite signal simulator, and verifies whether the remote vehicle information with the safety layer information and the road side unit information with the safety layer information meet safety standards, if yes, the remote vehicle information with the safety layer information and the road side unit information with the safety layer information are respectively analyzed to obtain the safety remote vehicle information and the safety road side unit information, and the host vehicle position information, the safety remote vehicle information and the safety road side unit information are sent to the tested fusion function controller through the real-time machine.

In this embodiment, the vehicle-to-external information exchange simulation module extracts traffic scene information through the vehicle-to-external information exchange simulation unit (i.e., the V2X simulation unit), packages the traffic scene information according to a protocol, and sends the traffic scene information to the satellite signal simulator and the PC5 simulator respectively. The on-board unit of the host vehicle (i.e. the OBU of the host vehicle) receives the information (i.e. the electromagnetic wave signals) broadcasted by the satellite signal simulator and the PC5 simulator and sends the information to the fusion function controller through real time. The host vehicle OBU receives far vehicle information with safety layer information and road side unit information with safety layer information broadcast by the PC5 simulator, and carries out safety verification on the far vehicle information with safety layer information and the road side unit information with safety layer information so as to ensure the safety of test information, and specifically, whether the far vehicle information with safety layer information and the road side unit information with safety layer information meet safety standards or not is verified, and the safety verification can be carried out on a safety certificate corresponding to the far vehicle information with safety layer information and a safety certificate corresponding to the road side unit information with safety layer information.

The scene simulation software can be respectively linked with the satellite signal simulator and the PC5 simulator through the information exchange simulation module of the vehicle to the outside, and the extraction and encapsulation of the information are realized according to the V2X protocol. The information exchange simulation module of the vehicle to the outside adopts a satellite signal simulator, only receives the position information of the host vehicle in the scene simulation software, and broadcasts the position information through a radio frequency port of the host vehicle, and the position information simulation of other vehicles or traffic participants does not exist. In addition, the PC5 simulator is adopted, so that the function is strong and the operability is strong. Signal simulators for corresponding scenes, such as unstable signals, attenuated signals, interfering signals, etc., may be accommodated. Meanwhile, due to the configurability and operability, the system can adapt to more testing scenes, so that the testing of the system is more in line with the actual outfield testing, and the practicability of the testing system is improved.

The embodiment can realize a large-scale pressure simulation test with a safety layer by arranging a safety layer protocol stack and a PC5 simulator, and the large-scale pressure simulation test can be a simulation test simulating 200 vehicles. The purpose of the large-scale pressure simulation test is to place vehicles or test equipment in a denser communication environment, and test whether the expected V2X function of the Internet of vehicles can be realized under the large-scale pressure communication condition. When the target function is tested, in order to avoid triggering of other early warning functions except the test function, other early warning functions are preferably closed during the test in consideration of the characteristics of large number of background vehicles and wide position distribution in the pressure test scene so as to detect whether the target function can be normally triggered. By way of example, the target function scenario may be described as the following scenario: the test vehicle runs along a straight road, a crossroad is arranged in front of the test vehicle, a large number of background vehicles are stationary or slowly run near the crossroad, and normally transmit and receive V2X messages, and the test vehicle needs to normally trigger a V2X related early warning function under a congested communication environment. The parameter definition of the target function scene may include: (1) own vehicle status: the test vehicle runs at a constant speed and gradually approaches the target; (2) road information: two-way four-lane urban intersections, speed limit is 30km/h; (3) traffic participant information: the target vehicle is stationary or runs at a low speed, and other background OBUs are in a stationary state; (4) internet of vehicles information: the test vehicle and the target vehicle both have the capability of receiving and transmitting information of the internet of vehicles; (5) natural environment information: sunny days, etc. Also by way of example, a large-scale pressure test at an intersection for forward collision warning, the target functional scenario may be described as: a large number of background vehicles are stopped near the intersection, the stationary vehicles are stopped at the stop line of the intersection in front of the lane, the test vehicles run forwards along the road, the test vehicles and the target vehicles have collision danger, the application of the test vehicles V2X FCW sends out early warning, and the early warning time needs to ensure that after the test vehicle driver receives the early warning, enough time can be provided for taking measures to avoid rear-end collision with the target vehicles.

On the basis of the above embodiments, the vehicle-to-external information exchange simulation unit further includes a scene data subunit, a message collecting subunit, a satellite signal simulator interface subunit, and a vehicle-to-external information exchange interface subunit, where the vehicle-to-external information exchange simulation unit obtains the host vehicle position information, the far vehicle information, and the road side unit information based on a current simulated traffic scene, adds the received security certificate information to the far vehicle information and the road side unit information, obtains far vehicle information with security layer information and road side unit information with security layer information, and sends the host vehicle position information to the satellite signal simulator, and sends the far vehicle information with security layer information and the road side unit information with security layer information to a PC5 simulator, including:

the scene data subunit receives and processes the current simulated traffic scene data to obtain the main vehicle position information, the original remote vehicle information and the original road side unit information;

the scene data subunit sends the host vehicle position information to the satellite signal simulator through the satellite signal simulator interface subunit;

The message collection subunit receives the original far car information and the original road side unit information sent by the scene data subunit, converts the original far car information and the original road side unit information into the far car information and the road side unit information according to a preset protocol, and adds the received safety certificate information into the far car information and the road side unit information to obtain the far car information with the safety layer information and the road side unit information with the safety layer information;

and the message collection subunit sends the remote car information with the safety layer information and the road side unit information with the safety layer information to the PC5 simulator through the car-to-outside information exchange interface subunit.

The scene data subunit in this embodiment is configured to receive simulated traffic scene data in real time, analyze the simulated traffic scene data into application layer data, and further process the application layer data, and convert the application layer data into main vehicle position information, original far vehicle information and original road side unit information required in a vehicle-to-external information exchange test. If the data file corresponding to the scene is absent from the scene data subunit, it is preferable to import MAP, RSI, SPAT the data file in advance, and select the corresponding data file according to the scene to generate the corresponding information. Preferably, the simulated traffic scenario data is typically RDB data (snapshot persistence policy). In the analysis process of the simulated traffic scene data, the default vehicle is a main vehicle, other targets are traffic participants, the vehicles are arranged according to the distance between the main vehicle and the traffic participants, and the remote vehicles and the road side units participating in the test are screened out according to the preset number. The preset number may be, for example, 5.

The satellite signal simulator interface subunit is used for remotely configuring a satellite signal simulator, and comprises system selection, simulation starting time, simulator operation and stop and the like; and the main vehicle position information sent by the scene data subunit is sent to the satellite signal simulator in real time.

The message set subunit is configured to convert and encode original far-car information and original road side unit information sent by the scene data subunit into various message set (BSM, RSM, RSI, SPAT and MAP) data (all message set data sets support json files and UI interface controls, support manual setting of all available parameters) according to a preset protocol, obtain far-car information and road side unit information conforming to a simulated traffic scene, add the received security certificate information to the far-car information and the road side unit information, obtain the far-car information with security layer information and the road side unit information with security layer information, send the far-car information with security layer information and the road side unit information with security layer information to a protocol stack in real time, and send the far-car information with security layer information and the road side unit information with security layer information to the PC5 simulator through the vehicle-to-external information exchange interface subunit. In addition, the message set subunit can also receive various message set (BSM, RSM, RSI, SPAT and MAP) data sent by the protocol stack, and decode the various message set (BSM, RSM, RSI, SPAT and MAP) data into original remote car information and original road side unit information in real time.

The vehicle-to-outside information exchange interface subunit is used for remotely configuring the PC5 simulator, and comprises channel simulation parameters, simulator operation and stop and the like; the remote car information and the road side unit information (various message sets (BSM, RSM, RSI, SPAT and MAP) data) sent by the protocol stack are sent to the PC5 simulator in real time. In addition, the information exchange interface subunit of the vehicle to the outside can also send the remote vehicle information and the road side unit information received by the PC5 simulator to the protocol stack in real time.

The scene data subunit, the message collecting subunit, the satellite signal simulator interface subunit and the vehicle-to-external information exchange interface subunit are arranged in the vehicle-to-external information exchange simulation unit, so that the information of the main vehicle, the remote vehicle and the road side unit for testing can be accurately obtained, and the two paths of signal processing units of the satellite signal simulator and the PC5 simulator are arranged, so that the processing speed of the test data can be improved while the test data can be obtained in a targeted manner.

On the basis of the above embodiments, further, the vehicle-to-outside information exchange simulation unit further includes a main vehicle on-board unit monitoring subunit, and after the main vehicle on-board unit receives the satellite signal of the main vehicle position information broadcasted by the satellite signal simulator, the method further includes:

The main vehicle-mounted unit generates early warning information based on the main vehicle position information;

the main vehicle on-board unit monitoring subunit acquires the working state of the main vehicle on-board unit and the early warning information, and sends the working state of the main vehicle on-board unit and the early warning information to the function evaluation module;

the function evaluation module acquires the main vehicle control instruction, evaluates the tested fusion function controller based on the current simulated traffic scene and the main vehicle control instruction, and comprises the following steps:

the function evaluation module acquires the main vehicle control instruction, the working state of the main vehicle on-board unit and the early warning information, and evaluates the tested fusion function controller based on the current simulated traffic scene, the main vehicle control instruction, the working state of the main vehicle on-board unit and the early warning information.

The working states of the on-board unit of the main vehicle comprise a positioning state, a V2X communication state, a V2X data throughput and the like. The main vehicle on-board unit monitoring subunit can also control the enabling and dormancy of the main vehicle on-board unit through the LAN port, and acquire the triggering time of the main vehicle on-board unit. In this embodiment, in the process of evaluating the tested fusion function controller, the performance influence factor of the on-board unit of the host vehicle is considered, so that the working state of the on-board unit of the host vehicle and the corresponding early warning information thereof can be determined by setting the monitoring sub-unit of the on-board unit of the host vehicle. Further, the function evaluation module is combined with the working state of the on-board unit of the main vehicle and corresponding early warning information to comprehensively evaluate the control performance of the tested fusion function controller. It can be understood that the on-board unit monitoring subunit of the host vehicle can also evaluate the performance of the on-board unit of the host vehicle based on the working state and the early warning information of the on-board unit of the host vehicle. According to the technical scheme, the influence of the on-board unit of the main vehicle on the control function test of the tested fusion function controller is considered, and the test accuracy of the tested fusion function controller is further improved.

Fig. 2 is a schematic structural diagram of a vehicle information fusion control function test system based on security layer information according to an embodiment of the present application, and fig. 3 is a schematic structural diagram of another vehicle information fusion control function test system based on security layer information according to an embodiment of the present application. The vehicle information fusion control function test system based on the security layer information in this embodiment is used for executing the vehicle information fusion control function test method based on the security layer information described in each embodiment. As shown in fig. 2 to 3, the vehicle information fusion control function test system based on the safety layer information includes a scene simulation module 1, an autopilot simulation module 2 and a vehicle-to-outside information exchange simulation module 3 connected with the scene simulation module 1, a safety layer protocol stack 7 connected with the vehicle-to-outside information exchange simulation module 3, a real-time machine 6 connected with the scene simulation module 1, the autopilot simulation module 2 and the vehicle-to-outside information exchange simulation module 3, a fusion function controller 4 connected with the real-time machine 6, and a function evaluation module 5 connected with the fusion function controller 4 and the scene simulation module 1, wherein:

The scene simulation module 1 is used for constructing a simulation traffic scene for testing;

before testing, the automatic driving simulation module 2 is used for deploying a main vehicle simulation model to the real-time machine 6 so that the main vehicle simulation model is displayed in a simulated traffic scene for testing;

during testing, the automatic driving simulation module 2 is used for acquiring information of a vehicle-mounted sensor of a main vehicle based on a current simulated traffic scene and sending the information of the vehicle-mounted sensor of the main vehicle to the tested fusion function controller 4 through the real-time machine 6;

the safety layer protocol stack 7 is used for acquiring safety certificate information corresponding to a remote vehicle and a road side unit from a safety certificate authentication platform in real time based on a current simulation scene, and sending the safety certificate information to the information exchange simulation module of the vehicle to the outside;

the vehicle-to-external information exchange simulation module 3 is configured to obtain main vehicle position information, far vehicle information and road side unit information based on a current simulated traffic scene, determine whether the far vehicle information and the road side unit information meet a safety standard based on the safety certificate information, and if so, send the main vehicle position information, the safety far vehicle information meeting the safety standard and the safety road side unit information meeting the safety standard to the tested fusion function controller 4 through the real-time machine 6;

The tested fusion function controller 4 is used for carrying out fusion analysis based on the information of the vehicle-mounted sensor of the main vehicle, the position information of the main vehicle, the information of the safe remote vehicle and the information of the safe road side unit, and generating a main vehicle control instruction;

the function evaluation module 5 is configured to obtain the main vehicle control instruction, and evaluate the tested fusion function controller 4 based on a current simulated traffic scene and the main vehicle control instruction.

On the basis of the above embodiments, the vehicle-to-outside information exchange simulation module 3 further includes a vehicle-to-outside information exchange simulation unit 31 connected to the scene simulation module 1 and the security layer protocol stack 7, a PC5 simulator 32 and a satellite signal simulator 33 connected to the vehicle-to-outside information exchange simulation unit 31, and a main vehicle-mounted unit 34 connected to the PC5 simulator 32, the satellite signal simulator 33 and the real-time machine 6, wherein:

the vehicle-to-external information exchange simulation unit 31 is configured to obtain the host vehicle position information, the far vehicle information, and the road side unit information based on a current simulated traffic scene, add the received security certificate information to the far vehicle information and the road side unit information, obtain far vehicle information with security layer information and road side unit information with security layer information, send the host vehicle position information to the satellite signal simulator 33, and send the far vehicle information with security layer information and the road side unit information with security layer information to the PC5 simulator 32;

the satellite signal simulator 33 is configured to broadcast satellite signals of the host vehicle position information;

The PC5 emulator 32 is configured to broadcast the far car information with the security layer information and the road side unit information with the security layer information;

the host vehicle on-board unit 34 is configured to receive the satellite signal of the host vehicle position information broadcast by the satellite signal simulator 33 and the remote vehicle information with safety layer information and the road side unit information with safety layer information broadcast by the PC5 simulator 32, and verify whether the remote vehicle information with safety layer information and the road side unit information with safety layer information meet safety standards, if yes, analyze the remote vehicle information with safety layer information and the road side unit information with safety layer information respectively to obtain the safe remote vehicle information and the safe road side unit information, and send the host vehicle position information, the safe remote vehicle information and the safe road side unit information to the tested fusion function controller 4 through the real-time machine 6.

On the basis of the above embodiments, the vehicle-to-external information exchange simulation unit 31 further includes a scene data subunit 311 connected to the scene simulation module 1, a message collection subunit 312 connected to the scene data subunit 311 and the security layer protocol stack 7, a satellite signal simulator interface subunit 313 connected to the scene data subunit 311 and the satellite signal simulator 33, and a vehicle-to-external information exchange interface subunit 314 connected to the message collection subunit 312 and the PC5 simulator 32, wherein:

The scene data subunit 311 is configured to receive and process current simulated traffic scene data, and obtain the main vehicle position information, the original remote vehicle information, and the original road side unit information;

the satellite signal simulator interface subunit 313 is configured to remotely configure the satellite signal simulator 33, and send the host vehicle position information sent by the scene data subunit 311 to the satellite signal simulator 33;

the message-collecting subunit 312 is configured to receive the original far-car information and the original road-side unit information sent by the scene-data subunit 311, convert the original far-car information and the original road-side unit information into the far-car information and the road-side unit information according to a preset protocol, and add the received security certificate information to the far-car information and the road-side unit information to obtain the far-car information with the security layer information and the road-side unit information with the security layer information;

the vehicle-to-outside information exchange interface subunit 314 is configured to remotely configure the PC5 emulator 32, and send the remote vehicle information with the security layer information and the road side unit information with the security layer information, which are sent by the message collecting subunit 312 through a protocol stack, to the PC5 emulator 32.

On the basis of the above embodiments, further, the vehicle-to-external information exchange simulation unit 31 further includes a main vehicle on-board unit monitoring subunit, where the main vehicle on-board unit monitoring subunit is connected to the main vehicle on-board unit 34 and the function evaluation module 5, and the function evaluation module 5 is as follows:

the main vehicle on-board unit 34 is used for generating early warning information based on the main vehicle position information;

the main vehicle on-board unit monitoring subunit is configured to control the main vehicle on-board unit 34 to enable and sleep, obtain the working state of the main vehicle on-board unit 34 and the early warning information, and send the working state of the main vehicle on-board unit 34 and the early warning information to the function evaluation module 5;

the function evaluation module 5 is further configured to obtain the main vehicle control instruction, the working state of the main vehicle on-board unit 34, and the early warning information, and evaluate the tested fusion function controller 4 based on the current simulated traffic scene, the main vehicle control instruction, the working state of the main vehicle on-board unit 34, and the early warning information.

On the basis of the above embodiments, further, the vehicle-to-external information exchange simulation unit 31 further includes a scene configuration subunit, where the scene configuration subunit is connected to the scene simulation module 1, and the method further includes:

The scene configuration subunit is used for performing scene simulation remote control on the scene simulation module 1.

Wherein, the remote control comprises controlling scene simulation to start, pause, stop, restart, switch and the like.

On the basis of the above embodiments, further, the vehicle-to-outside information exchange simulation unit 31 further includes a test data recording subunit, where the test data recording subunit is respectively connected to the scene simulation module 1, the satellite signal simulator 33, the PC5 simulator 32, and the main vehicle on-board unit monitoring subunit, where:

the test data recording subunit is configured to record scene data corresponding to the scene simulation module 1, the host vehicle position information, the remote vehicle information, the road side unit information, and host vehicle on-board unit status information.

The test data recording subunit is used for storing the scene data, the host vehicle position information, the far vehicle information, the road side unit information and the host vehicle on-board unit state information corresponding to the scene simulation module 1, marking a uniform timestamp and generating a data file in a uniform format.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in this specification, the terms "a," "an," "the," and/or "the" are not intended to be limiting, but rather are to be construed as covering the singular and the plural, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements.

It should also be noted that the positional or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. The method is characterized in that the method is executed by a vehicle information fusion control function test system based on safety layer information, and the vehicle information fusion control function test system based on the safety layer information comprises a scene simulation module, an automatic driving simulation module, a safety layer protocol stack, a vehicle-to-outside information exchange simulation module, a tested fusion function controller, a function evaluation module and a real-time machine, and the method comprises the following steps:

2. The method according to claim 1, wherein the vehicle-to-outside information exchange simulation module further includes a vehicle-to-outside information exchange simulation unit, a PC5 simulator, a satellite signal simulator, and a main vehicle on-board unit, the vehicle-to-outside information exchange simulation module obtains main vehicle position information, far vehicle information, and road side unit information based on a current simulated traffic scene, determines whether the far vehicle information and the road side unit information meet a safety standard based on the safety certificate information, and if so, sends the main vehicle position information, the safety far vehicle information meeting the safety standard, and the safety road side unit information meeting the safety standard to the tested fusion function controller through the real-time machine, including:

3. The method of claim 2, wherein the vehicle-to-outside information exchange simulation unit further includes a scene data sub-unit, a message collection sub-unit, a satellite signal simulator interface sub-unit, and a vehicle-to-outside information exchange interface sub-unit, the vehicle-to-outside information exchange simulation unit obtains the host vehicle location information, the far vehicle information, and the road side unit information based on a current simulated traffic scene, adds the received security certificate information to the far vehicle information and the road side unit information, obtains far vehicle information with security layer information and road side unit information with security layer information, and sends the host vehicle location information to the satellite signal simulator, and sends the far vehicle information with security layer information and the road side unit information with security layer information to a PC5 simulator, comprising:

4. A method according to claim 2 or 3, wherein the vehicle-to-outside information exchange simulation unit further comprises a main vehicle on-board unit monitoring subunit, the method further comprising, after the main vehicle on-board unit receives satellite signals of the main vehicle position information broadcast by a satellite signal simulator:

5. The vehicle information fusion control function test system based on the safety layer information is characterized by comprising a scene simulation module, an automatic driving simulation module and a vehicle-to-outside information exchange simulation module which are connected with the scene simulation module, a safety layer protocol stack which is connected with the vehicle-to-outside information exchange simulation module, a real-time machine connected with the scene simulation module, the automatic driving simulation module and the vehicle-to-outside information exchange simulation module, a tested fusion function controller connected with the real-time machine, and a function evaluation module connected with the tested fusion function controller and the scene simulation module, wherein:

6. The system of claim 5, wherein the vehicle-to-outside world information exchange simulation module further comprises a vehicle-to-outside world information exchange simulation unit connected to the scene simulation module and the security layer protocol stack, respectively, a PC5 simulator and a satellite signal simulator connected to the vehicle-to-outside world information exchange simulation unit, and a host vehicle-mounted unit connected to the PC5 simulator, the satellite signal simulator, and the real-time machine, wherein:

the vehicle-to-outside information exchange simulation unit is used for acquiring the position information of the main vehicle, the far vehicle information and the road side unit information based on the current simulation traffic scene, adding the received safety certificate information into the far vehicle information and the road side unit information to obtain the far vehicle information with safety layer information and the road side unit information with safety layer information, sending the position information of the main vehicle to the satellite signal simulator, and sending the far vehicle information with the safety layer information and the road side unit information with the safety layer information to the PC5 simulator;

The satellite signal simulator is used for broadcasting satellite signals of the host vehicle position information;

the PC5 simulator is used for broadcasting the remote car information with the safety layer information and the road side unit information with the safety layer information;

the host vehicle on-board unit is used for receiving satellite signals of the host vehicle position information broadcast by the satellite signal simulator and the remote vehicle information with the safety layer information and the road side unit information with the safety layer information broadcast by the PC5 simulator, verifying whether the remote vehicle information with the safety layer information and the road side unit information with the safety layer information meet safety standards, if yes, analyzing the remote vehicle information with the safety layer information and the road side unit information with the safety layer information respectively to obtain the safety remote vehicle information and the safety road side unit information, and transmitting the host vehicle position information, the safety remote vehicle information and the safety road side unit information to the tested fusion function controller through the real-time machine.

7. The system of claim 6, wherein the vehicle-to-outside world information exchange simulation unit further comprises a scene data subunit connected to the scene simulation module, a message collection subunit connected to the scene data subunit and the security layer protocol stack, respectively, a satellite signal simulator interface subunit connected to the scene data subunit and the satellite signal simulator, and a vehicle-to-outside world information exchange interface subunit connected to the message collection subunit and the PC5 simulator, wherein:

The scene data subunit is used for receiving and processing current simulated traffic scene data to obtain the main vehicle position information, the original remote vehicle information and the original road side unit information;

the satellite signal simulator interface subunit is used for remotely configuring the satellite signal simulator and sending the host vehicle position information sent by the scene data subunit to the satellite signal simulator;

the message collection subunit is configured to receive the original far car information and the original road side unit information sent by the scene data subunit, convert the original far car information and the original road side unit information into the far car information and the road side unit information according to a preset protocol, and add the received security certificate information into the far car information and the road side unit information to obtain the far car information with the security layer information and the road side unit information with the security layer information;

the vehicle-to-outside information exchange interface subunit is used for remotely configuring the PC5 simulator, and sending the remote vehicle information with the safety layer information and the road side unit information with the safety layer information, which are sent by the message collection subunit through a protocol stack, to the PC5 simulator.

8. The system of claim 6 or 7, wherein the vehicle-to-outside information exchange simulation unit further comprises a main vehicle on-board unit monitoring subunit connected to the main vehicle on-board unit and the functional evaluation module, wherein:

the main vehicle-mounted unit is used for generating early warning information based on the main vehicle position information;

the main vehicle on-board unit monitoring subunit is used for controlling the main vehicle on-board unit to enable and sleep, acquiring the working state of the main vehicle on-board unit and the early warning information, and sending the working state of the main vehicle on-board unit and the early warning information to the function evaluation module;

the function evaluation module is also used for acquiring the main vehicle control instruction, the working state of the main vehicle on-board unit and the early warning information, and evaluating the tested fusion function controller based on the current simulation traffic scene, the main vehicle control instruction, the working state of the main vehicle on-board unit and the early warning information.

9. The system of claim 8, wherein the vehicle-to-outside world information exchange simulation unit further comprises a scene configuration subunit coupled to the scene simulation module, wherein:

The scene configuration subunit is used for performing scene simulation remote control on the scene simulation module.

10. The system of claim 9, wherein the vehicle-to-outside information exchange simulation unit further comprises a test data recording subunit respectively connected to the scene simulation module, the satellite signal simulator, the PC5 simulator, and the main vehicle on-board unit monitoring subunit, wherein:

the test data recording subunit is used for recording scene data corresponding to the scene simulation module, the main vehicle position information, the remote vehicle information, the road side unit information and main vehicle on-board unit state information.