CN116700218B - Intelligent network link cooperative test method, system and storage medium - Google Patents
Intelligent network link cooperative test method, system and storage medium Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides an intelligent network coupling road cooperative test method, which comprises the following steps: s1, when a road side unit closest to a road side detects vehicle information, a vehicle-mounted unit detects running parameter data of a vehicle and communicates with the road side unit closest to the vehicle-mounted unit to send the running parameter data to a control center; s2, the control center sends control signals for simulating relevant data of the V2X application scene to the vehicle-mounted unit; s3, the vehicle adjusts driving parameters to cope with the simulated V2X application scene; s4, detecting running data of the vehicle and vehicle parameter change data by the road side unit, and uploading the running data and the vehicle parameter change data to the control center; s5, reproducing the driving state of the vehicle in the scene in the simulation system; s6, evaluating a test result according to the driving state of the vehicle in the scene in the simulation system. The invention solves the problem of inaccurate data of the pure virtual simulation system in the prior art, and the problem of high difficulty and high cost in building a real V2X application scene.
Description
Technical Field
The invention belongs to the technical field of vehicle road testing, and particularly relates to an intelligent network vehicle road collaborative testing method, system and storage medium.
Background
The intelligent internet-connected vehicle (ICV, intelligentand Connected Vehicle) is a new-generation vehicle which is provided with advanced vehicle-mounted sensors, controllers, actuators and the like, integrates modern communication and network technologies, realizes intelligent information exchange and sharing between vehicles and X (vehicles, roads, people, clouds and the like), has the functions of complex environment perception, intelligent decision, cooperative control and the like, can realize safe, efficient, comfortable and energy-saving running, and can finally realize operation instead of people.
The vehicle-road cooperative test is often required to be carried out for a plurality of times under different V2X application scenes so as to cover as many real driving situations as possible, but the real construction difficulty of the general test scene is high and the cost is high, so that most of vehicle-road cooperative tests are completed through simulation experiments. However, the pure virtual simulation cannot fully reproduce the real scene, and cannot reflect the real driving state and data information of the vehicle on the road, so that the simulation result is not accurate enough, and therefore, optimization and improvement on the vehicle-road cooperative test system are needed.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent network link cooperative test method, which solves the problems of inaccurate data of a pure virtual simulation system and high difficulty and high cost in building a real V2X application scene in the prior art.
The technical scheme of the invention is realized by the following technical scheme:
the invention provides an intelligent network coupling road cooperative test method, which comprises the following steps:
s1, when a test vehicle provided with a vehicle-mounted unit runs on a test road and a road side unit at the closest road side detects vehicle information, the vehicle-mounted unit detects running parameter data of the vehicle and communicates with the closest road side unit to be sent to a control center;
s2, the control center receives the data signals of the vehicle-mounted units, sends control signals simulating the relevant data of the V2X application scene to each road side unit, and the nearest road side unit is communicated with the vehicle-mounted units to send control signals simulating the V2X application scene;
s3, the vehicle-mounted unit adjusts driving parameters according to the received control signals of the related data of the simulated V2X application scene so as to cope with the simulated V2X application scene;
s4, detecting running data of the vehicle and vehicle parameter change data by the road side unit, and uploading the running data and the vehicle parameter change data to the control center;
s5, the control center reproduces the driving state of the vehicle in the scene in the simulation system according to the driving data of the vehicle, the vehicle parameter change data and the simulation V2X application scene related data;
s6, evaluating a test result according to the driving state of the vehicle in the scene in the simulation system.
Preferably, when the closest roadside unit in step S1 communicates with the on-board unit, connection states are established from other roadside units adjacent to the closest roadside unit in front of and behind the closest roadside unit, if a connection establishment failure occurs, the connection states are continuously established to the next roadside unit in sequence on the failure side, and the cycle is performed until the set number meets the connection establishment states, so as to form a local roadside unit network.
Preferably, in step S2, the control center sends a control signal for sending data related to the simulation V2X application scenario to all the road side units of the local road side unit network, the control signal is also forwarded and stored between the road side units adjacent to the local road side unit network, and after the duplication is removed, the content of the control signal is analyzed.
Preferably, the deduplication processing method comprises the following steps: the control center numbers the sent control signal, when the road side unit receives a message, it detects if there is a sequence number of the message in the local buffer list, if there is a sequence number of the message, the message is a repeated message, otherwise it is not a repeated message.
Preferably, in step S4, when the road side unit detects the running data and the vehicle parameter variation data of the vehicle, the closest road side unit real-time vehicle parameter variation data is selected according to the vehicle position, and the running data of the vehicle detected by the road side unit is combined with the time stamp and each road side unit ID to form the vehicle road cooperative data, and the vehicle road cooperative data is sent to the control center through the road side unit.
Preferably, when the vehicle-road cooperative data is sent, the shortest path is automatically generated and transmitted to the control center according to the connection state between the IDs of the road side units in the local road side unit network and the ID of the control center.
Preferably, the driving data in step S5 includes position information of the vehicle, real-time vehicle speed, lane information, and the vehicle parameters include state data of the vehicle operation and data of each sensor.
Preferably, the control center sorts the running data of the vehicles according to the time stamp and the road side unit ID; sorting and classifying the driving data of the vehicles according to the time stamps, and restoring the test state of the vehicle in the simulation system to obtain an evaluation result.
The invention also provides an intelligent network coupling road cooperative test system, which comprises:
the vehicle-mounted unit is positioned in the center of the vehicle, and receives the V2X application scene related data signal sent by the control center and received by the road side unit to adjust the running state of the test vehicle;
the road side units are arranged at set positions on the road side at intervals and are connected with the distributed network, and are used for receiving and transmitting signals between the control center and vehicle signals, and a plurality of road side units form a local road side unit network to collect running data and vehicle parameter change data of the vehicle during testing;
the control center is used for controlling and data processing, sending and receiving signals, and simulating the running state of the vehicle in the V2X application scene according to the running data of the road side unit vehicle and the vehicle parameter change data.
The invention also provides a computer readable storage medium storing a computer program which when executed by a processor implements an intelligent network link cooperative test method as described above.
The beneficial effects of the invention are as follows:
(1) According to the invention, the test vehicle is adopted to simulate the V2X application scene data sent by the control center on a real road, the coping strategy is adjusted, the road side unit collects the running parameters of the vehicle and the change data of the vehicle parameters and sends the data to the control center, the control center reproduces the state of the test vehicle in the simulation system according to the vehicle data, and finally the test result is obtained, so that the problems that the cost for building the real application scene is high and the difficulty is high, and the real data of the vehicle cannot be obtained in the virtual scene are avoided.
(2) The vehicle-mounted unit and the control center are communicated in the form of a local network by the road side units, so that a signal instruction sent by the control center can be transmitted to each road side unit of the local network, and meanwhile, the data of the vehicle-mounted unit and the running parameter data of the vehicle in each road side unit can be effectively transmitted to the control center in real time, and the integrity of the acquired vehicle data is ensured so as to obtain the most accurate test result.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic control flow diagram of the method of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The road side is generally provided with a plurality of road side units which are arranged at intervals in the intelligent network vehicle-connected road cooperative test system, and the road side units can collect and monitor the running parameters of the test vehicle, communicate with the vehicle, upload the parameters of the vehicle and transmit instruction signals. The driving data includes position information, real-time vehicle speed, lane information, other environmental information and the like of the vehicle, and the vehicle parameters include state data of vehicle operation, data of each sensor and the like.
The road side units adopt dynamic networking distributed system layout, various communication anomalies among nodes in multiple network environments such as satellite, microwave, WLAN, fixed network and the like are considered, meanwhile, the network environment is not fixed due to the existence of a movable central node, and meanwhile, risks caused by the change of a network deployment structure at any time are considered, so that the transmission and the reception of a plurality of test vehicle data are ensured.
As shown in fig. 1, the intelligent network link cooperative test method comprises the following steps:
s1, when a test vehicle provided with an on-board unit runs on a test road and a road side unit at the closest road side detects vehicle information, the on-board unit detects running parameter data of the vehicle and communicates with the closest road side unit to be sent to a control center.
When the nearest road side units communicate with the vehicle-mounted units, connection states are established from the nearest road side units respectively, if connection establishment faults occur, connection states are continuously established for the next road side units in sequence on the fault side, circulation is conducted until the set number meets the established connection states, a local road side unit network is formed, network communication among each road side unit can be guaranteed when the vehicle starts to be tested by the local road side unit network, testing of the vehicle is achieved, instructions sent by a control center are received, and test data are uploaded to the control center.
S2, the control center receives the data signals of the vehicle-mounted units, sends control signals simulating the relevant data of the V2X application scene to each road side unit, and the nearest road side unit is communicated with the vehicle-mounted units to send control signals simulating the V2X application scene.
The control center sends control signals for simulating the V2X application scene related data to all road side units of the local road side unit network, the control signals are also forwarded and stored between the adjacent road side units of the local road side unit network, and the content of the control signals is analyzed after duplicate removal.
Since all the road side units in the local road side unit network are arranged to monitor and collect the driving parameter data of the vehicle during the vehicle test, it is necessary to ensure that all the road side units of the local road side unit network receive the command signals of the control center. Because a certain road side unit inevitably exists in an actual field real environment and has communication faults with a control center, the delay or incapability of receiving an instruction signal is caused, and a mode of forwarding and storing the signals among adjacent road side units in a local road side unit network is adopted, so that each road side unit in the network can be ensured to timely collect vehicle running parameter data, the integrity of test data is ensured, and if the certain road side unit cannot receive the instruction signal, the running parameter data content of the road side unit is lacking, and the follow-up simulation data is incomplete.
Specifically, since the instruction signals are forwarded between the adjacent roadside units, each roadside unit may have a repetition of a certain instruction signal, and thus a deduplication process is required, the method is as follows: the control center numbers the sent control signal, when the road side unit receives a message, it detects if there is a sequence number of the message in the local buffer list, if there is a sequence number of the message, the message is a repeated message, otherwise it is not a repeated message.
And S3, the vehicle-mounted unit adjusts driving parameters according to the received control signals of the related data of the simulated V2X application scene so as to cope with the simulated V2X application scene. According to instruction information data sent by the control center, the vehicle-mounted unit receives relevant data of a certain simulation V2X application scene and then automatically controls the vehicle according to the data so as to deal with the situation.
If the traffic light signal is simulated, the control center sends a command that the signal lamp at the front 100m is red, the test vehicle needs to go straight and the test vehicle is other vehicles at the front 80m of the straight road, and then the test vehicle makes corresponding parameter changes. The front and rear road side units beside the road monitor and collect the test vehicles in the process, and collect and transmit the running parameter data of the test vehicles, such as the speed, the lane, the final stop position and the like of the vehicles at all times and the vehicle parameter data.
Of course, the vehicle-mounted intelligent driving system can also be various scenes such as overtaking, following, turning and the like in the normal driving process, and the V2X application scenes can be converted into relevant data required by intelligent driving vehicle control and sent to the vehicle-mounted unit so as to acquire the coping capability of the tested vehicle on a live road and ensure the authenticity of the test.
And S4, detecting running data of the vehicle and vehicle parameter change data by the road side unit, and uploading the running data and the vehicle parameter change data to the control center.
When the road side unit detects the running data and the vehicle parameter change data of the vehicle, the closest road side unit real-time vehicle parameter change data is selected according to the vehicle position, the running data of the vehicle detected by the road side unit is combined, and the running data is matched with the identifiers such as the time stamp and the IDs of the road side units to form the vehicle-road cooperative data, and the vehicle-road cooperative data is sent to the control center through the road side unit. Because the road side units for realizing data acquisition form a local network, the test vehicle communicates with the nearest road side unit for data transmission, so that the stability of data transmission can be ensured, and the problem of unstable or lost data transmission caused by various factors when the actual distance is too far is avoided, so as to obtain complete test data.
Meanwhile, when the vehicle-road cooperative data is sent, the shortest path is automatically generated and transmitted to the control center according to the connection state between the IDs of all road side units in the local road side unit network and the ID of the control center. In other words, the road side units for realizing data acquisition form a local network, so that the problem of incomplete data caused by communication faults is directly communicated with the control center when the road side units transmit data in the mode, and the shortest paths are automatically generated in the local network for transmission, so that the problem of test data loss caused by communication faults between a certain road side unit and the control center can be effectively avoided.
And S5, the control center reproduces the driving state of the vehicle in the scene in the simulation system according to the driving data of the vehicle, the vehicle parameter change data and the simulation V2X application scene related data.
After the control center receives the running data of the test vehicle and the vehicle parameter change data, sorting and classifying the running data of the vehicle according to the time stamp and the road side unit ID; sorting and classifying the driving data of the vehicles according to the time stamps, and restoring the test state of the vehicle in the simulation system to obtain an evaluation result.
And S6, according to the running state evaluation test result of the vehicle in the scene in the simulation system, obtaining the coping strategy and coping result of the vehicle in various V2X application scenes on the real road, and obtaining the real and reliable test conclusion.
The invention also provides an intelligent network coupling road cooperative test system, which comprises:
the vehicle-mounted unit is positioned in the center of the vehicle, and receives the V2X application scene related data signal sent by the control center and received by the road side unit to adjust the running state of the test vehicle;
the road side units are arranged at set positions on the road side at intervals and are connected with the distributed network, and are used for receiving and transmitting signals between the control center and vehicle signals, and a plurality of road side units form a local road side unit network to collect running data and vehicle parameter change data of the vehicle during testing;
the control center is used for controlling and data processing, sending and receiving signals, and simulating the running state of the vehicle in the V2X application scene according to the running data of the road side unit vehicle and the vehicle parameter change data.
In addition to the methods and systems described above, embodiments of the present invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the intelligent network link coordination test method provided by any of the embodiments of the present invention.
The computer program product may write program code for performing operations of embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer readable storage medium, on which computer program instructions are stored, which when executed by a processor, cause the processor to perform the steps of the intelligent network link coordination test method provided by any embodiment of the present invention.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. The intelligent network vehicle-road cooperative test method is characterized by comprising the following steps of:
s1, when a test vehicle provided with a vehicle-mounted unit runs on a test road and a road side unit at the closest road side detects vehicle information, the vehicle-mounted unit detects running parameter data of the vehicle and communicates with the closest road side unit to be sent to a control center;
s2, the control center receives the data signals of the vehicle-mounted units, sends control signals simulating the relevant data of the V2X application scene to each road side unit, and the nearest road side unit is communicated with the vehicle-mounted units to send control signals simulating the V2X application scene;
s3, the vehicle-mounted unit adjusts driving parameters according to the received control signals of the related data of the simulated V2X application scene so as to cope with the simulated V2X application scene;
s4, detecting running data of the vehicle and vehicle parameter change data by the road side unit, and uploading the running data and the vehicle parameter change data to the control center;
s5, the control center reproduces the driving state of the vehicle in the scene in the simulation system according to the driving data of the vehicle, the vehicle parameter change data and the simulation V2X application scene related data;
s6, evaluating a test result according to the running state of the vehicle in the scene in the simulation system;
in step S4, when the road side unit detects the running data and the vehicle parameter variation data of the vehicle, the closest road side unit real-time vehicle parameter variation data is selected according to the vehicle position, and the running data of the vehicle detected by the road side unit is combined with the time stamp and each road side unit ID to form the vehicle road cooperative data, and the vehicle road cooperative data is sent to the control center through the road side unit;
in step S5, the driving data includes position information, real-time speed, and lane information of the vehicle, and the vehicle parameters include state data of the running of the vehicle and data of each sensor; the control center sorts and classifies the running data of the vehicles according to the time stamp and the road side unit ID, and restores the test state of the vehicle in the simulation system to obtain an evaluation result.
2. The intelligent network link cooperative test method according to claim 1, wherein when the nearest road side unit in step S1 communicates with the vehicle-mounted unit, connection states are established from other road side units adjacent to the nearest road side unit from the front and rear sides of the nearest road side unit, if a connection establishment failure occurs, connection states are continuously established to the next road side unit in sequence on the failure side, and the circulation is performed until a set number of established connection states are met, so as to form the local road side unit network.
3. The intelligent network link cooperative test method according to claim 2, wherein in step S2, the control center sends a control signal for simulating V2X application scene related data to all the road side units of the local road side unit network, the control signal is also forwarded and stored between the adjacent road side units of the local road side unit network, and the content of the control signal is analyzed after the duplication removal.
4. The intelligent network link cooperative test method as claimed in claim 3, wherein the deduplication processing method comprises the following steps: the control center numbers the sent control signal, when the road side unit receives a message, it detects if there is a sequence number of the message in the local buffer list, if there is a sequence number of the message, the message is a repeated message, otherwise it is not a repeated message.
5. The intelligent network-connected vehicle-road cooperative test method according to claim 2, wherein when the vehicle-road cooperative data is transmitted, a shortest path is automatically generated and transmitted to the control center according to the connection state between the IDs of each road-side unit in the local road-side unit network and the ID of the control center.
6. An intelligent network link co-testing system for performing the method of any one of claims 1-5, comprising:
the vehicle-mounted unit is positioned in the center of the vehicle, and receives the V2X application scene related data signal sent by the control center and received by the road side unit to adjust the running state of the test vehicle;
the road side units are arranged at set positions on the road side at intervals and are connected with the distributed network, and are used for receiving and transmitting signals between the control center and vehicle signals, and a plurality of road side units form a local road side unit network to collect running data and vehicle parameter change data of the vehicle during testing;
the control center is used for controlling and data processing, sending and receiving signals, and simulating the running state of the vehicle in the V2X application scene according to the running data of the road side unit vehicle and the vehicle parameter change data.
7. A computer readable storage medium, characterized in that it stores a computer program, which when executed by a processor implements an intelligent network link coordination test method according to any one of claims 1 to 5.
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