CN116847401B - Internet of vehicles testing method, device and readable storage medium - Google Patents
Internet of vehicles testing method, device and readable storage medium Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The application discloses a vehicle networking test method, device and readable storage medium, relating to the field of digital information test, wherein the method comprises the following steps: determining the position information and the driving data of the vehicle to be tested according to the received vehicle-end broadcast message of the vehicle to be tested; generating a road-end broadcast message based on the traffic rules of the management areas corresponding to the driving data and the position information; transmitting the road side broadcast message to the vehicle to be tested so as to guide the vehicle to be tested to perform cross-region lane change running; and outputting a test result according to a matching result of the running track fed back by the vehicle to be tested and the road end broadcast message. The method solves the technical problem that the confidence of the test results of the Internet of vehicles at different rule intersections is low because the simulation test cannot restore the real working condition, and improves the confidence of the test results of the Internet of vehicles.
Description
Technical Field
The present application relates to the field of digital information testing, and in particular, to a method and apparatus for testing internet of vehicles, and a readable storage medium.
Background
V2X (Vehicle to Everything, vehicle to outside) is the main direction of the intelligent network-connected automobile in the future, and is a key technology for opening the road and cooperating. Among them, the V2X protocol is the core of this technology.
The interconnection test is a test of the consistency of the communication protocol of the vehicle networking towards the bottom layer, and the conventional interconnection test scheme is mainly based On a typical scene of the planning of the lead area of the vehicle networking, and is used for carrying out the consistency test of the protocols of an OBU (On-Board Unit) and an RSU (Road-Side Unit) in a laboratory environment, so as to verify the compatibility of the interconnection protocols such as a packet data convergence protocol, a radio link control protocol, a remote resource control protocol, a security protocol and the like.
However, the simulation test cannot restore the real working condition, the simulated data cannot embody the real data, and the simulation test is insufficient for supporting the internet of vehicles test at different regular intersections.
Disclosure of Invention
The embodiment of the application solves the technical problems that the simulation test cannot restore the real working condition and the simulated data cannot embody the real data in the related technology, so that the confidence of the test results of the Internet of vehicles at different rule intersections is low, and the technical effect of improving the confidence of the test results of the Internet of vehicles at different rule intersections is realized.
The embodiment of the application provides a vehicle networking test method, which comprises the following steps:
Determining the position information and the driving data of the vehicle to be tested according to the received vehicle-end broadcast message of the vehicle to be tested;
generating a road-end broadcast message based on the traffic rules of the management areas corresponding to the driving data and the position information;
transmitting the road side broadcast message to the vehicle to be tested so as to guide the vehicle to be tested to perform cross-region lane change running;
and outputting a test result according to a matching result of the running track fed back by the vehicle to be tested and the road end broadcast message.
Optionally, before the step of determining the position information and the driving data of the vehicle to be tested according to the received vehicle-end broadcast message of the vehicle to be tested, the method includes:
the control road side terminal analyzes the vehicle-end broadcast message and acquires structured data;
and determining the content consistency of the structured data and the vehicle-end broadcast message, and determining a protocol test result based on the content consistency.
Optionally, the step of determining the position information and the driving data of the vehicle to be tested according to the received vehicle-end broadcast message of the vehicle to be tested includes:
determining a decoder based on the vehicle-end broadcast message, and analyzing the vehicle-end broadcast message according to the decoder;
And determining the position information and the driving data corresponding to the analysis result, wherein the driving data comprises vehicle speed, course angle and turn signal condition.
Optionally, the step of generating the road-side broadcast message based on the traffic rules of the management area corresponding to the driving data and the location information includes:
generating traffic event data based on the matching situation of the driving data and the traffic rules;
acquiring three-dimensional data corresponding to the management area, wherein the three-dimensional data is generated by sensing of an image sensor and/or a radar sensor;
and updating the traffic event data based on the three-dimensional data, and generating the road-side broadcast message.
Optionally, the step of generating traffic event data based on the matching condition of the driving data and the traffic rule includes:
determining current lane information according to the lane division condition of the management area and the position information;
determining target lane information according to the current lane information and the course angle corresponding to the driving data and combining the traffic rule;
determining a lane change track point based on the current lane information, the target lane information and the vehicle speed corresponding to the driving data;
And determining the traffic event data according to the lane change track point positions.
Optionally, the step of determining the lane change track point location based on the current lane information, the target lane information and the vehicle speed corresponding to the driving data includes:
determining a predicted track of the surrounding vehicle according to a target vehicle end broadcast message of the surrounding vehicle corresponding to the vehicle to be tested;
determining an initial running track of the vehicle to be tested based on the current lane information, the target lane information and the vehicle speed corresponding to the running data;
aligning the initial running track and the predicted track according to a time sequence, and establishing a junction model;
and generating the lane change track point positions according to the intersection model based on the avoidance principle.
Optionally, after the step of sending the road-side broadcast message to the vehicle to be tested to guide the vehicle to be tested to perform the cross-region lane change running, the method further includes:
controlling the vehicle to be tested to perform cross-region lane change running according to the road side broadcast message, and collecting the running data;
and generating the running track based on the running data and the time information, and broadcasting the running track.
Optionally, the step of outputting the test result according to the matching result of the driving track fed back by the vehicle to be tested and the road end broadcast message includes:
determining positioning information and course angle included in the driving track and time information associated with the positioning information;
determining predicted positioning information and predicted course angles corresponding to the time information in the road-side broadcast message;
and determining the test result based on a distance difference between the positioning information and the predicted positioning information and between the course angle and the predicted course angle.
In addition, the application also provides a vehicle networking test device, which comprises a memory, a processor and a vehicle networking test program which is stored in the memory and can run on the processor, wherein the processor realizes the steps of the vehicle networking test method when executing the vehicle networking test program.
In addition, the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a car networking test program, and the car networking test program realizes the steps of the car networking test method when being executed by a processor.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
due to the adoption of the method, the position information and the driving data of the vehicle to be tested are determined according to the received vehicle end broadcast message of the vehicle to be tested; generating a road-end broadcast message based on the traffic rules of the management areas corresponding to the driving data and the position information; transmitting the road side broadcast message to the vehicle to be tested so as to guide the vehicle to be tested to perform cross-region lane change running; according to the matching result of the running track fed back by the vehicle to be tested and the road end broadcast message, the test result is output, so that the technical problems that the real working condition cannot be restored due to the simulation test and the real data cannot be reflected by the simulated data in the related technology, and the confidence degree of the test result of the internet of vehicles at different rule intersections is low are solved, and the technical effect of improving the confidence degree of the test result of the internet of vehicles at different rule intersections is realized.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a testing method for Internet of vehicles according to the present application;
fig. 2 is a detailed schematic diagram of a flow of step S120 in the second embodiment of the internet of vehicles test method of the present application;
Fig. 3 is a detailed schematic diagram of a flow of step S210 in the second embodiment of the internet of vehicles test method of the present application;
fig. 4 is a schematic diagram of a hardware structure related to an embodiment of the internet of vehicles test equipment according to the present application.
Detailed Description
In the related art, communication between an OBU and an RSU and a stability test are performed in a laboratory scene, but complete test data cannot be provided in a simulation test aiming at different traffic rule junction scenes, so that the confidence level of a vehicle networking test result is low. The embodiment of the application adopts the main technical scheme that: the method comprises the steps of obtaining a vehicle-end broadcast message sent by a vehicle to be tested, determining position information and driving data of the vehicle to be tested, further generating a road-end broadcast message based on the driving data and traffic rules of a management area, sending the road-end broadcast message to the vehicle to be tested, comparing the road-end broadcast message with the road-end broadcast message according to a driving track returned by the vehicle to be tested, and determining a test result according to a matching result. Thereby realizing the technical effect of improving the confidence of the test results of the Internet of vehicles at the intersection of different rules.
In order to better understand the above technical solution, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
Example 1
The embodiment of the application discloses a vehicle networking test method, and referring to fig. 1, the vehicle networking test method comprises the following steps:
step S110, determining the position information and the driving data of the vehicle to be tested according to the received vehicle-end broadcast message of the vehicle to be tested.
In this embodiment, the vehicle to be tested broadcasts its own related data through a preset protocol, and the drive test terminal may receive the vehicle-end broadcast data and perform fusion processing, so as to generate a road-end broadcast message and send the road-end broadcast message back to the vehicle in the management area.
As an alternative implementation manner, a vehicle-end broadcast message of the vehicle to be tested is received, and the position information and the driving data of the vehicle are determined according to the message body.
The road side terminal receives the broadcasting information of the vehicle end of the vehicle to be tested, decodes the broadcasting information of the vehicle end according to the decoder corresponding to the protocol, and obtains the position information and the driving data of the vehicle to be tested.
As another alternative implementation manner, the road side terminal receives the vehicle-end broadcast message sent by the vehicle to be tested, and the road side terminal provides the data receiving and storing functions. And in the running process of the vehicle to be tested, regularly sending a vehicle-end broadcast message, and receiving the message by the road-side terminal and/or the test terminal. The vehicle-side broadcast message includes positional information and travel data of the vehicle including, but not limited to, vehicle speed, vehicle acceleration, heading angle. After receiving the broadcasting information of the vehicle end, the road side terminal uses a preset analysis algorithm or a data processing tool to extract the position information and the driving data in the broadcasting information. And acquiring specific position description by using a map service or a geographic information system through the longitude and latitude coordinates obtained after analysis. And storing the acquired driving data according to the data type by using a preset data structure and a data model.
Optionally, step S110 includes:
step S111, determining a decoder based on the vehicle-side broadcast message, and parsing the vehicle-side broadcast message according to the decoder.
Step S112, determining the position information and the driving data corresponding to the analysis result, where the driving data includes a vehicle speed, a heading angle and a turn signal condition.
In this embodiment, the test terminal may directly obtain a vehicle-end broadcast message sent by the vehicle to be tested, or may directly obtain a road-end broadcast message sent by the road-side terminal.
As an optional implementation manner, after receiving the vehicle-end broadcast message, the road-side terminal determines a decoder based on a protocol corresponding to the vehicle-end broadcast message, and analyzes the vehicle-end broadcast message through the decoder to determine the position information and the driving data of the vehicle to be tested.
Exemplary travel data includes, but is not limited to, vehicle speed, heading angle, and turn signal conditions. The road side terminal can receive broadcast messages of various transmission protocols, when receiving the vehicle-end broadcast message, a corresponding decoder is called according to the protocol type of the vehicle-end broadcast message, the vehicle-end broadcast message is analyzed through the decoder, position information and sensor data contained in a message body are obtained, a course angle and vehicle acceleration are determined based on the gyroscope sensor data, a steering lamp condition is determined based on a vehicle lamp switching level, and vehicle speed is determined based on the wheel rotating speed.
Step S120, generating a road-side broadcast message based on the traffic rules of the management area corresponding to the driving data and the location information.
In this embodiment, the roadside terminal associates a corresponding management area, which is an intersection of the broadcast receiving area and the administrative area. The management area corresponds to traffic rules.
As an optional implementation manner, when receiving a vehicle-end broadcast message sent by a vehicle to be tested, the road side terminal determines the position information of the vehicle to be tested, and when the position information is in a management area of the road side terminal, the vehicle to be tested is regarded as being in communication connection with the road side terminal. When the position information is not in the management area of the road side terminal, the road side terminal does not send a road side broadcast message to the vehicle to be tested. When the road side terminal determines that the vehicle to be tested is in the management area, a corresponding road side broadcast message is generated according to the running data and the positioning information and the matching condition of the traffic rules.
Optionally, the elements generated by the broadcasting information of the road end can also comprise road side signal lamp information, traffic participant information detected based on radar and the like, intersection information road section information comprising local areas, traffic sign information and the like.
For example, when the vehicle to be tested is in the broadcast receiving areas of the first road side terminal and the second road side terminal at the same time, but the vehicle to be tested is in the management area corresponding to the first road side terminal, the first road side terminal and the second road side terminal both receive the broadcasting message of the vehicle to be tested, but the first road side terminal sends the broadcasting message of the road side to the vehicle to be tested.
And step S130, sending the road side broadcast message to the vehicle to be tested so as to guide the vehicle to be tested to perform cross-region lane change running.
In this embodiment, the first road side terminal corresponds to a first management area, the second road side terminal corresponds to a second management area, and traffic rules of the first management area and the second management area are different. The cross-region lane change driving refers to that a vehicle to be tested is driven from a first management region to a second management region. In this process, a road side terminal in communication connection with the vehicle to be tested is converted from a first road side terminal to a second road side terminal.
As an optional implementation manner, when the vehicle to be tested is in the management area of the road side terminal, the road side terminal sends a road side broadcast message to the vehicle to be tested, so that the vehicle to be tested runs across areas according to a running prompt corresponding to the road side broadcast message, safely avoids surrounding vehicles, smoothly completes lane changing, and does not violate the traffic rules of the second management area.
And step 140, outputting a test result according to a matching result of the running track fed back by the vehicle to be tested and the road end broadcast message.
In this embodiment, the vehicle to be tested executes the cross-region lane change according to the received road-end broadcast information, and feeds back the driving track according to the execution result at preset time intervals.
As an optional implementation manner, after receiving the running track, the road side terminal of the management area where the vehicle to be tested is located updates the road side broadcast message according to the running track and the currently received vehicle side broadcast message, and sends the updated road side broadcast message to the vehicle to be tested. After the vehicle to be tested completes the transregional lane change action, the test terminal generates a test result according to the point positions corresponding to the conventional driving track and the difference values of the predicted path point positions corresponding to the conventional road end broadcast message.
As an optional implementation manner, after receiving the running track, the road side terminal of the management area where the vehicle to be tested is located generates a target test result according to the difference value between the point positions corresponding to the running track and the predicted point positions corresponding to the road side broadcast message, and updates the road side broadcast message according to the difference value. And after the vehicle to be tested completes the transregional lane change action, generating a test result according to each target test result.
The technical scheme provided by the embodiment of the application at least has the following technical effects or advantages:
due to the adoption of the method, the position information and the driving data of the vehicle to be tested are determined according to the received vehicle end broadcast message of the vehicle to be tested; generating a road-end broadcast message based on the traffic rules of the management areas corresponding to the driving data and the position information; transmitting the road side broadcast message to the vehicle to be tested so as to guide the vehicle to be tested to perform cross-region lane change running; according to the matching result of the running track fed back by the vehicle to be tested and the road end broadcast message, the test result is output, so that the technical problems that the real working condition cannot be restored due to the simulation test and the real data cannot be reflected by the simulated data in the related technology, and the confidence degree of the test result of the internet of vehicles at different rule intersections is low are solved, and the technical effect of improving the confidence degree of the test result of the internet of vehicles at different rule intersections is realized.
Based on the first embodiment, a second embodiment of the present application provides a testing method for internet of vehicles, referring to fig. 2, step S120 includes:
and step S210, generating traffic event data based on the matching condition of the driving data and the traffic rules.
In this embodiment, the traffic event data is traffic information generated by respective travel data and position information of the vehicle to be tested and surrounding vehicles at respective time points while the vehicle is traveling.
As an alternative embodiment, the traffic event data is generated based on the travel data and the location information, with the traffic rule as a constraint.
Optionally, referring to fig. 3, step S210 includes:
step S211, determining current lane information according to the lane division condition of the management area and the position information;
as an optional implementation manner, determining the lane division condition at each position coordinate in the management area, and determining the lane on which the vehicle to be tested is currently running as the current lane information based on the lane-level positioning information corresponding to the position information.
Step S212, determining target lane information according to the current lane information and the course angle corresponding to the driving data and combining the traffic rule.
As an optional implementation manner, a course angle of the vehicle to be tested is determined through running data, a lane changing tendency of the vehicle to be tested is determined based on the course angle and the turn signal condition, and a lane which is predicted to be driven into by the vehicle to be tested after a preset time is determined as target lane information based on traffic rules and the lane changing tendency corresponding to the management area.
Step S213, determining a lane change track point based on the current lane information, the target lane information and the vehicle speed corresponding to the driving data.
As an alternative implementation mode, the lane change track point position is determined based on the current lane information, the target lane information and the vehicle speed corresponding to the driving data, and then the lane change track point position is updated according to the driving data and the position information of the vehicles in a preset area around the vehicle to be tested.
Optionally, step S213 includes:
step S2131, determining a predicted track of the surrounding vehicle according to the target vehicle end broadcast message of the surrounding vehicle corresponding to the vehicle to be tested.
As an alternative implementation manner, according to the received broadcasting information of the vehicle end, determining a target vehicle with position information within a preset range around the vehicle to be tested as a surrounding vehicle; and determining the predicted track of the surrounding vehicle according to the vehicle-end broadcast message of the surrounding vehicle, wherein the prediction method is similar to that of the vehicle to be tested.
Step S2132, determining an initial driving track of the vehicle to be tested based on the current lane information, the target lane information and the vehicle speed corresponding to the driving data.
As an alternative embodiment, the turning angle and the turning time are determined based on the current lane information and the target lane information, the position information of the vehicle to be tested at each time point in the lane change time period is determined according to the vehicle speed, the turning angle and the turning time, and the initial running track is determined according to each position information.
And S2133, aligning the initial running track and the predicted track according to a time sequence, and establishing a junction model.
As an alternative implementation mode, each vehicle is regarded as an independent plane, plane coordinates of each independent plane are aligned, an initial running track and a predicted track are drawn at each independent plane, and then ordinate compression is carried out on each plane to determine a junction point of the initial running track and each predicted track and a junction time corresponding to the junction point. And generating a junction model based on the junction and the junction time.
Step S2134, based on the avoidance principle, generating the lane change track point location according to the intersection model.
And based on the vehicle speeds of the vehicle to be tested and surrounding vehicles at each intersection point, adjusting the target vehicle speed of the vehicle to be tested at the intersection point based on the vehicle speeds, and updating the lane change track point according to the target vehicle speed.
In this embodiment, when the vehicle to be tested is located at the junction between the first management area and the second management area, the estimated driving area is determined according to the heading angle of the vehicle to be tested, and the estimated driving area is taken as the management area.
When the vehicle to be tested is located at the junction of the first management area and the second management area, a second road-end broadcast message sent by a second road-side terminal corresponding to the second management area is obtained, and because traffic rules of the two management areas are inconsistent, the first area is right-to-the-road running, the second area is left-to-left running, and the cross-area lane change action is executed according to the second road-end broadcast message.
And step S214, determining the traffic event data according to the lane change track point positions.
As an alternative embodiment, the traffic event data is determined from the lane change track points and the corresponding points in time.
Step S220, three-dimensional data corresponding to the management area is obtained, wherein the three-dimensional data is perceived and generated by an image sensor and/or a radar sensor;
and step S230, updating the traffic event data based on the three-dimensional data, and generating the road-side broadcast message.
As an optional implementation manner, according to the image sensor and/or the radar sensor in the management area, generating initial three-dimensional data corresponding to the management area, determining a mobile object in the management area based on the vehicle-end broadcast message received by the road side terminal, removing data of the mobile object corresponding to the initial three-dimensional data, and generating three-dimensional data. And updating traffic event data according to the obstacle information included in the three-dimensional data so that the vehicle to be tested avoids the obstacle on the lane when changing the lane. And generating a road-side broadcast message based on the updated traffic event data.
Determining current lane information according to the lane division condition of the management area and the position information; determining target lane information according to the current lane information and the course angle corresponding to the driving data and combining the traffic rule; determining a lane change track point based on the current lane information, the target lane information and the vehicle speed corresponding to the driving data; and determining the traffic event data according to the lane change track point positions. Therefore, the technical problems that the real working condition cannot be restored in the simulation test in the related technology, the simulated data cannot reflect the real data, and the confidence of the test results of the Internet of vehicles at the intersections of different rules is low are effectively solved, and the technical effect of improving the confidence of the test results of the Internet of vehicles at the intersections of different rules is achieved.
Based on the first embodiment, the third embodiment of the present application provides a testing method for internet of vehicles, which further includes, after step S130:
step S310, controlling the vehicle to be tested to perform cross-region lane change running according to the road side broadcast message, and collecting the running data;
step S320, generating the travel track based on the travel data and the time information, and broadcasting the travel track.
As an optional implementation manner, after receiving the road-end broadcast message, the vehicle to be tested analyzes the track-changing track points included in the road-end broadcast message, and course angles, vehicle speeds and time points at all the points, and executes cross-region track-changing running according to the parameters. And collecting travel data at various points in time. And generating a running track based on the running data and the time information of the corresponding time point, and generating a vehicle-end broadcast message based on the running track for broadcasting.
Illustratively, the vehicle under test is controlled to receive a road-side broadcast message containing a cross-region lane change instruction. And the vehicle to be tested runs in a cross-region lane change mode according to the received broadcast message. During running, the vehicle to be tested collects relevant running data such as vehicle speed, acceleration, steering angle and the like. And integrating and processing the acquired driving data and the time information to generate a driving track. The generated running track comprises information such as the position, the speed, the acceleration and the like of the vehicle to be tested in the process of changing lanes in the cross-region. And sending the generated running track out in a broadcasting mode, so that other vehicles and roadside equipment can acquire the information.
The vehicle to be tested is controlled to carry out cross-region lane change running according to the road end broadcast message, and the running data are collected; and generating the running track based on the running data and the time information, and broadcasting the running track. The technical problem that simulation in the related art cannot completely simulate real data is effectively solved, and further the technical effects that other vehicles and roadside equipment can make corresponding adjustment and decision according to received driving track information so as to improve the efficiency and safety of traffic flow are achieved.
Based on the first embodiment, the fourth embodiment of the present application provides a testing method for internet of vehicles, and step S140 includes:
step S410, determining positioning information, course angle and time information associated with the positioning information included in the running track;
step S420, determining the predicted positioning information and the predicted course angle corresponding to the time information in the road-side broadcast message;
step S430, determining the test result based on the distance difference between the positioning information and the predicted positioning information, and the heading angle and the predicted heading angle.
As an optional implementation manner, determining a running track of a vehicle to be tested according to a vehicle-end broadcast message received by a road side terminal, and acquiring positioning information, a course angle and a vehicle speed contained in the running track and time information associated with the positioning information; according to the road-end broadcast message received last time by the vehicle to be tested, determining the predicted positioning information and the predicted course angle corresponding to the time information; determining a distance difference value between the positioning information and the predicted positioning information, and determining a first decomposition amount of an abscissa and an ordinate of the distance difference value under a measurement coordinate system; determining second decomposition amounts of an abscissa and an ordinate of the course angle under the measurement coordinate system, determining third decomposition amounts of the abscissa and the ordinate of the predicted course angle under the measurement coordinate system, determining a difference value between the second decomposition amount and the third decomposition amount, and determining a test result according to the first decomposition amount and the difference value.
In the process that the vehicle to be tested executes the cross-region lane change action, the road side terminal generates a corresponding test result according to each communication interaction with the vehicle to be tested. The test result is the positioning information and the running data of the vehicle to be tested at the current moment, and the positioning information and the running data predicted at the current moment in the road-side broadcast message are compared to obtain a comparison result; and matching the running data of the other vehicles in the first management area and the second management area according to the comparison result, and tracing the generation reason of the source error. Because the intersection is required to be converted in traffic rules and traffic protocols, and the positioning accuracy of the vehicle is limited, the projection width of the intersection line on the road plane is relatively large, so that when the vehicle to be tested passes through the entity intersection line, the road end broadcast message of the first management area is still received, and the error of the variable road diameter point position is predicted. And each point of the vehicle to be tested at the junction can be optimized according to the test result, and the road side terminal of which management area is used for broadcasting road section broadcast information is judged.
As another alternative embodiment, the positioning information that the driving track needs to include, such as longitude and latitude coordinates or position information of the vehicle on the road, and a heading angle, i.e., an orientation angle of the vehicle, are determined. Meanwhile, the association between the positioning information and time is determined, so that the correct time sequence of the driving track is ensured. And determining the predicted positioning information and the predicted course angle corresponding to the time information based on the road-side broadcast information in the vehicle history data to be tested, and predicting the position and the orientation of the vehicle at a certain future time point. The test result is determined based on a distance difference between the positioning information and the predicted positioning information, and an angle difference between the heading angle and the predicted heading angle. And comparing whether the distance difference between the actual positioning information and the predicted positioning information is within an acceptable range and whether the angle difference between the course angle and the predicted course angle is within the acceptable range. If the distance difference value and the angle difference value are within the acceptable range, the test result is that the vehicle passes, and the accuracy of the running track is higher. If the distance or angle difference exceeds the acceptable range, the test result is failed, indicating that the accuracy of the travel track is low, and further adjustment and optimization may be required.
Due to the adoption of positioning information and course angle included in the determined running track and time information associated with the positioning information; determining predicted positioning information and predicted course angles corresponding to the time information in the road-side broadcast message; and determining the test result based on a distance difference between the positioning information and the predicted positioning information and between the course angle and the predicted course angle. Therefore, the technical problem that the confidence of the test results of the Internet of vehicles at different rule intersections is low due to the fact that the simulation test cannot restore the real working condition and the simulated data cannot reflect the real data in the related technology is effectively solved, and the technical effect of improving the confidence of the test results of the Internet of vehicles at different rule intersections is achieved.
Based on the first embodiment, the fifth embodiment of the present application provides a testing method for internet of vehicles, comprising, before step S110:
step S1, a control road side terminal analyzes the vehicle-end broadcast message to obtain structured data.
And S2, determining the content consistency of the structured data and the vehicle-end broadcast message, and determining a protocol test result based on the content consistency.
As an optional implementation manner, the vehicle network test terminal controls the vehicle to be tested to broadcast the vehicle-end broadcast message according to a preset protocol, controls the drive test terminal to analyze the received vehicle-end broadcast message, decodes the vehicle-end broadcast message according to a decoder corresponding to the protocol, generates structured data and sends the structured data to the test terminal, and the test terminal determines a protocol test result by comparing the consistency of the structured data and the vehicle-end broadcast message.
The method comprises the steps of receiving a vehicle-end broadcast message sent by a vehicle to be tested through a test terminal and analyzing and then sending structured data through a road side terminal, comparing the content consistency of the structured data and the vehicle-end broadcast message, and further verifying the effectiveness of communication between the vehicle to be tested and the road side terminal. Therefore, the communication test in the related technology only supporting the same protocol environment is effectively solved, and further, the automatic protocol switching and the broadcast message analysis are realized in different communication protocol environments.
Based on the first embodiment, the sixth embodiment of the application provides a testing method for internet of vehicles, and step S120 further includes generating a road-side broadcast message containing early warning information based on the testing scene requirement.
As an optional implementation manner, when the test scene is forward collision early warning, determining lane information and vehicle speed information of the target vehicle corresponding to the target broadcast message; determining a vehicle to be collided in the target vehicle based on the lane information and the vehicle speed information; and generating and displaying early warning information based on the speed information and the interval distance of the vehicle to be collided.
As another optional implementation manner, when the test scene is an intersection collision early warning, determining lane information and vehicle speed information of the target vehicle corresponding to the target broadcast message; determining estimated time and estimated distance for the target vehicle to reach a preset intersection based on the lane information and the vehicle speed information; determining a vehicle to be collided based on the estimated time and the estimated distance; and generating and displaying early warning information according to the relative positions of the vehicle to be collided and the test vehicle.
In this embodiment, the acquired radar and/or image data about the test site are combined based on the scene, and the road-side broadcast message containing the early warning information is generated based on the analysis result of the data. Therefore, the method and the device effectively solve the problem that the related technology only supports communication tests under the same protocol environment, further realize automatic protocol switching and analysis of broadcast messages and typical scene applications, such as traffic light pushing and blind area early warning, under different communication protocol environments, and further realize feasibility verification of various typical scenes of the Internet of vehicles.
The application further provides a vehicle networking test device, and referring to fig. 4, fig. 4 is a schematic diagram of the vehicle networking test device in the hardware operation environment according to the embodiment of the application.
As shown in fig. 4, the internet of vehicles test device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the configuration shown in fig. 4 is not limiting of the internet of vehicles testing apparatus and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.
Optionally, the memory 1005 is electrically connected to the processor 1001, and the processor 1001 may be configured to control operation of the memory 1005, and may also read data in the memory 1005 to implement a test of internet of vehicles.
Optionally, as shown in fig. 4, an operating system, a data storage module, a network communication module, a user interface module, and an internet of vehicles test program may be included in the memory 1005 as one storage medium.
Optionally, in the internet of vehicles test device shown in fig. 4, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the internet of vehicles test apparatus of the present application may be disposed in the internet of vehicles test apparatus.
As shown in fig. 4, the internet of vehicles test device invokes an internet of vehicles test program stored in a memory 1005 through a processor 1001, and executes related steps of the internet of vehicles test method provided by the embodiment of the present application:
determining the position information and the driving data of the vehicle to be tested according to the received vehicle-end broadcast message of the vehicle to be tested;
generating a road-end broadcast message based on the traffic rules of the management areas corresponding to the driving data and the position information;
Transmitting the road side broadcast message to the vehicle to be tested so as to guide the vehicle to be tested to perform cross-region lane change running;
and outputting a test result according to a matching result of the running track fed back by the vehicle to be tested and the road end broadcast message.
Optionally, the processor 1001 may call the internet of vehicles test program stored in the memory 1005, and further perform the following operations:
the control road side terminal analyzes the vehicle-end broadcast message and acquires structured data;
and determining the content consistency of the structured data and the vehicle-end broadcast message, and determining a protocol test result based on the content consistency.
Optionally, the processor 1001 may call the internet of vehicles test program stored in the memory 1005, and further perform the following operations:
determining a decoder based on the vehicle-end broadcast message, and analyzing the vehicle-end broadcast message according to the decoder;
and determining the position information and the driving data corresponding to the analysis result, wherein the driving data comprises vehicle speed, course angle and turn signal condition.
Optionally, the processor 1001 may call the internet of vehicles test program stored in the memory 1005, and further perform the following operations:
Generating traffic event data based on the matching situation of the driving data and the traffic rules;
acquiring three-dimensional data corresponding to the management area, wherein the three-dimensional data is generated by sensing of an image sensor and/or a radar sensor;
and updating the traffic event data based on the three-dimensional data, and generating the road-side broadcast message.
Optionally, the processor 1001 may call the internet of vehicles test program stored in the memory 1005, and further perform the following operations:
determining current lane information according to the lane division condition of the management area and the position information;
determining target lane information according to the current lane information and the course angle corresponding to the driving data and combining the traffic rule;
determining a lane change track point based on the current lane information, the target lane information and the vehicle speed corresponding to the driving data;
and determining the traffic event data according to the lane change track point positions.
Optionally, the processor 1001 may call the internet of vehicles test program stored in the memory 1005, and further perform the following operations:
determining a predicted track of the surrounding vehicle according to a target vehicle end broadcast message of the surrounding vehicle corresponding to the vehicle to be tested;
Determining an initial running track of the vehicle to be tested based on the current lane information, the target lane information and the vehicle speed corresponding to the running data;
aligning the initial running track and the predicted track according to a time sequence, and establishing a junction model;
and generating the lane change track point positions according to the intersection model based on the avoidance principle.
Optionally, the processor 1001 may call the internet of vehicles test program stored in the memory 1005, and further perform the following operations:
controlling the vehicle to be tested to perform cross-region lane change running according to the road side broadcast message, and collecting the running data;
and generating the running track based on the running data and the time information, and broadcasting the running track.
Optionally, the processor 1001 may call the internet of vehicles test program stored in the memory 1005, and further perform the following operations:
determining positioning information and course angle included in the driving track and time information associated with the positioning information;
determining predicted positioning information and predicted course angles corresponding to the time information in the road-side broadcast message;
and determining the test result based on a distance difference between the positioning information and the predicted positioning information and between the course angle and the predicted course angle.
In addition, the embodiment of the application also provides a computer readable storage medium, and the computer readable storage medium stores a car networking test program, and the car networking test program realizes the relevant steps of any embodiment of the car networking test method when being executed by a processor.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The Internet of vehicles testing method is characterized by comprising the following steps of:
controlling a vehicle to be tested to broadcast a vehicle-end broadcast message according to a preset protocol;
the control road side terminal analyzes the received vehicle-end broadcast message and acquires the structured data;
determining the content consistency of the structured data and the vehicle-end broadcast message, and determining a protocol test result based on the content consistency;
determining the position information and the driving data of the vehicle to be tested according to the received vehicle-end broadcast message of the vehicle to be tested;
Generating a road-end broadcast message based on the traffic rules of the management areas corresponding to the driving data and the position information, wherein the management areas are intersections of broadcast receiving areas and administrative areas of the road-side terminals;
transmitting the road side broadcast message to the vehicle to be tested so as to guide the vehicle to be tested to perform cross-regional lane change running, wherein the cross-regional lane change running refers to that the vehicle to be tested runs from a first management area to a second management area, and the traffic rules of the first management area and the second management area are different;
determining positioning information and course angle included in a running track fed back by the vehicle to be tested and time information associated with the positioning information;
determining predicted positioning information and predicted course angles corresponding to the time information in the road-side broadcast message;
and determining a test result based on the distance difference between the positioning information and the predicted positioning information, the course angle and the predicted course angle, namely generating the corresponding test result by the road side terminal according to each communication interaction with the vehicle to be tested in the process of executing the cross-region lane change action of the vehicle to be tested.
2. The internet of vehicles testing method according to claim 1, wherein the step of determining the location information and the driving data of the vehicle to be tested according to the received vehicle-end broadcast message of the vehicle to be tested comprises:
determining a decoder based on the vehicle-end broadcast message, and analyzing the vehicle-end broadcast message according to the decoder;
and determining the position information and the driving data corresponding to the analysis result, wherein the driving data comprises vehicle speed, course angle and turn signal condition.
3. The internet of vehicles testing method of claim 1, wherein the step of generating the road side broadcasting message based on the traffic rules of the corresponding management areas of the driving data and the location information comprises:
generating traffic event data based on the matching situation of the driving data and the traffic rules;
acquiring three-dimensional data corresponding to the management area, wherein the three-dimensional data is generated by sensing of an image sensor and/or a radar sensor;
and updating the traffic event data based on the three-dimensional data, and generating the road-side broadcast message.
4. The internet of vehicles testing method of claim 3, wherein the step of generating traffic event data based on the matching of the travel data and the traffic rules comprises:
Determining current lane information according to the lane division condition of the management area and the position information;
determining target lane information according to the current lane information and the course angle corresponding to the driving data and combining the traffic rule;
determining a lane change track point based on the current lane information, the target lane information and the vehicle speed corresponding to the driving data;
and determining the traffic event data according to the lane change track point positions.
5. The internet of vehicles testing method according to claim 4, wherein the step of determining a lane change locus point based on the current lane information, the target lane information, and the vehicle speed corresponding to the driving data comprises:
determining a predicted track of the surrounding vehicle according to a target vehicle end broadcast message of the surrounding vehicle corresponding to the vehicle to be tested;
determining an initial running track of the vehicle to be tested based on the current lane information, the target lane information and the vehicle speed corresponding to the running data;
aligning the initial running track and the predicted track according to a time sequence, and establishing a junction model;
and generating the lane change track point positions according to the intersection model based on the avoidance principle.
6. The method for testing the internet of vehicles according to claim 1, wherein after the step of transmitting the road-side broadcast message to the vehicle to be tested to guide the vehicle to be tested to perform the cross-region lane change, the method further comprises:
controlling the vehicle to be tested to perform cross-region lane change running according to the road side broadcast message, and collecting the running data;
and generating the running track based on the running data and the time information, and broadcasting the running track.
7. An internet of vehicles testing device, comprising a memory, a processor and an internet of vehicles testing program stored on the memory and operable on the processor, wherein the processor, when executing the internet of vehicles testing program, implements the steps of the internet of vehicles testing method according to any one of claims 1 to 6.
8. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a car networking test program, which when executed by a processor, implements the steps of the car networking test method according to any of claims 1 to 6.
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