CN117434916A - Vehicle function test system, method and storage medium - Google Patents
Vehicle function test system, method and storage medium Download PDFInfo
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Abstract
The present disclosure relates to the field of automatic driving technologies, and in particular, to a vehicle function test system, method, and storage medium, where the system includes a test environment rendering unit, a satellite positioning simulation unit connected to the test environment rendering unit, and a domain controller connected to the satellite positioning simulation unit; the vehicle function test environment is simulated through the test environment rendering unit, and GNSS data and RTK data are simulated through the satellite positioning simulation unit, so that an automatic driving function HIL test for fusing high-precision map data can be realized by an automatic driving domain controller of the integrated positioning module and the high-precision map module.
Description
Technical Field
The disclosure relates to the technical field of automatic driving, and in particular relates to a vehicle function test system, a vehicle function test method and a storage medium.
Background
Along with the continuous deep automatic driving technology, the virtual simulation technology in the automatic driving field is also developed, and becomes an indispensable important link in the development process of the automatic driving automobile. The HIL (Hardware in Loop) simulation test technology plays an important role in an automatic driving research and development system by virtue of the simulation characteristic close to a real vehicle and the high-efficiency and safe system characteristics, and is currently used for supporting the development of a multi-sensor simulation HIL test system such as a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and the like based on the development of a multi-sensor fusion sensing algorithm, for example, the HIL Hardware in Loop simulation test is performed on a multi-sensor fusion automatic driving domain controller.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a vehicle function test system, method, and storage medium.
According to a first aspect of embodiments of the present disclosure, there is provided a vehicle function test system including a test environment rendering unit, a satellite positioning simulation unit connected to the test environment rendering unit, and a domain controller connected to the satellite positioning simulation unit;
the test environment rendering unit is used for rendering a functional test environment according to a first preset high-precision map, wherein the functional test environment is a simulated running environment when a vehicle to be tested is subjected to functional test;
the satellite positioning simulation unit is used for calculating GNSS data and real-time dynamic RTK data of a global navigation satellite system corresponding to the vehicle to be tested after controlling the vehicle to be tested to run in the functional test environment;
the domain controller is used for determining a target positioning result of the vehicle to be tested according to the GNSS data and the RTK data and testing a target function of the vehicle to be tested according to the target positioning result;
optionally, the test environment rendering unit is configured to obtain road network data from the first preset high-precision map, where the road network data is used to characterize road information in the functional test environment; and rendering the functional test environment according to the road network data.
Optionally, the test environment rendering unit is further configured to obtain running information of the vehicle to be tested, where the running information includes a first position, a heading angle, and a vehicle speed of the vehicle to be tested;
the satellite positioning simulation unit is used for calculating the GNSS data and the RTK data according to the first position, the course angle and the vehicle speed.
Optionally, the test environment rendering unit is further configured to synchronize a system time of the test environment rendering unit to the satellite positioning simulation unit, and then control the vehicle to be tested to run in the functional test environment.
Optionally, the domain controller includes a positioning module, a deflection module connected with the positioning module, and an EHP map engine module connected with the deflection module, wherein the target positioning result includes a lane-level positioning result, and the lane-level positioning result is used for representing the relative position of the vehicle to be tested and the lane where the vehicle is currently located;
the positioning module is used for obtaining a second position of the vehicle to be detected after performing differential calculation according to the GNSS data and the RTK data;
the deflection module is used for carrying out deflection processing on the second position to obtain a deflection position of the vehicle to be detected;
the EHP map engine module is configured to obtain a second preset high-precision map, where the second preset high-precision map is different from the first preset high-precision map in format; and determining the lane-level positioning result according to the deflection position and the second preset high-precision map.
Optionally, the system further includes a preset cabin controller connected to the domain controller, the target function includes an automatic driving path planning function, and the domain controller is configured to receive vehicle navigation data sent by the preset cabin controller; and carrying out automatic driving path planning according to the vehicle navigation data and the lane-level positioning result.
Optionally, the target function includes a high-speed NOP and/or urban NOA function, and the domain controller is further configured to test the high-speed NOP and/or the urban NOA function of the vehicle to be tested according to the target positioning result after starting the automatic driving function of the vehicle to be tested.
According to a second aspect of embodiments of the present disclosure, there is provided a vehicle function test method applied to a vehicle function test system, the system including a test environment rendering unit, a satellite positioning simulation unit connected to the test environment rendering unit, and a domain controller connected to the satellite positioning simulation unit; the method comprises the following steps:
rendering a functional test environment by the test environment rendering unit according to a first preset high-precision map, wherein the functional test environment is a simulated running environment when a vehicle to be tested is subjected to functional test;
after the vehicle to be tested is controlled to run in the functional test environment, calculating GNSS data and real-time dynamic RTK data of a global navigation satellite system corresponding to the vehicle to be tested through the satellite positioning simulation unit;
and determining a target positioning result of the vehicle to be tested through the domain controller according to the GNSS data and the RTK data, and testing the target function of the vehicle to be tested according to the target positioning result.
Optionally, the rendering the functional test environment by the test environment rendering unit according to the first preset high-precision map includes:
obtaining road network data from the first preset high-precision map, wherein the road network data are used for representing road information in the functional test environment;
and rendering the functional test environment through the test environment rendering unit according to the road network data.
Optionally, the method further comprises:
acquiring running information of the vehicle to be tested through the test environment rendering unit, wherein the running information comprises a first position, a course angle and a vehicle speed of the vehicle to be tested;
the calculating, by the satellite positioning simulation unit, GNSS data and real-time dynamic RTK data corresponding to the vehicle to be measured includes:
and calculating the GNSS data and the RTK data through the satellite positioning simulation unit according to the first position, the course angle and the vehicle speed.
Optionally, the method further comprises:
and synchronizing the system time of the test environment rendering unit to the satellite positioning simulation unit, and controlling the vehicle to be tested to run in the function test environment.
Optionally, the domain controller includes a positioning module, a deflection module connected with the positioning module, and an EHP map engine module connected with the deflection module, wherein the target positioning result includes a lane-level positioning result, and the lane-level positioning result is used for representing the relative position of the vehicle to be tested and the lane where the vehicle is currently located; the method further comprises the steps of:
acquiring a second preset high-precision map through the EHP map engine module, wherein the format of the second preset high-precision map is different from that of the first preset high-precision map;
the determining, by the domain controller, the target positioning result of the vehicle to be detected according to the GNSS data and the RTK data includes:
performing differential calculation through the positioning module according to the GNSS data and the RTK data to obtain a second position of the vehicle to be detected;
the deflection module deflects the second position to obtain a deflection position of the vehicle to be detected;
and determining the lane-level positioning result through the EHP map engine module according to the deflection position and the second preset high-precision map.
Optionally, the target function includes an automatic driving path planning function, and the testing the target function of the vehicle to be tested according to the target positioning result includes:
receiving vehicle navigation data sent by a preset cabin controller through the domain controller;
and carrying out automatic driving path planning through the domain controller according to the vehicle navigation data and the lane-level positioning result.
Optionally, the target function includes a high-speed NOP and/or urban NOA function, and the testing the target function of the vehicle under test according to the target positioning result includes:
and after starting the automatic driving function of the vehicle to be tested, testing the high-speed NOP and/or the urban NOA function of the vehicle to be tested according to the target positioning result.
According to a third aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle function test method provided by the second aspect of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: the vehicle function test environment can be simulated through the test environment rendering unit, GNSS data and RTK data are simulated through the satellite positioning simulation unit, so that the automatic driving function HIL test of fusing high-precision map data can be realized by an automatic driving domain controller of the integrated positioning module and the high-precision map module, the HIL simulation test of the automatic driving function based on the high-precision map data such as high-speed NOP, urban NOA and the like can be further performed in the simulation test environment, and the development and test capability of the high-order automatic driving function are enhanced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic diagram of a high-precision map-based vehicle HIL hardware-in-the-loop simulation test scenario, according to an example embodiment.
Fig. 2 is a block diagram illustrating a vehicle functional test system according to an exemplary embodiment.
FIG. 3 is a block diagram illustrating another vehicle functional test system according to an exemplary embodiment.
FIG. 4 is a schematic diagram of a hardware-in-the-loop simulation test system architecture of an integrated satellite positioning simulation unit, according to an example embodiment.
Fig. 5 is a flowchart illustrating a vehicle function test method according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
It should be noted that, all actions for acquiring signals, information or data in the present application are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
The method is mainly applied to the scene of performing HIL hardware in loop simulation test on the vehicle multi-sensor fusion automatic driving domain controller, the current mainstream scheme of performing HIL simulation test on the multi-sensor fusion automatic driving domain controller is to perform simulation and injection of sensor data by adopting a plurality of sensor simulation modules, and the video simulation and injection module can simulate Rawdata or YUV format data sent by a camera to the data of the camera sensor and input the data into the domain controller in a signal transmission mode such as LVDS; the laser radar and millimeter wave radar sensor data simulation module CAN input scene point cloud data or perceived feature vector data obtained by calculation in scene simulation software to the domain controller through a CAN bus or a vehicle-mounted Ethernet transmission protocol; the data of the IMU inertial measurement unit simulation module and the whole vehicle bus simulation module are also referenced to the operation results of the upper computer virtual model and the vehicle dynamics software and are injected into the domain controller through the CAN bus; for an ultrasonic radar sensor, an echo simulator scheme is generally adopted, ultrasonic signals sent by the ultrasonic radar sensor are received and calculated, obstacle ultrasonic echoes are dynamically simulated for the ultrasonic sensor according to parameters set by an upper airport scene, and distance information of different obstacles perceived by the ultrasonic sensor is simulated, however, in the current automatic driving HIL test scheme, simulation capability of GNSS (Global Navigation Satellite System ) positioning data and RTK (Real-time kinematic) differential positioning data is not provided, so that automatic driving function test cannot be performed on a domain controller integrating a high-precision map engine and high-precision map data.
In order to solve the above-mentioned problems, the present disclosure provides a vehicle function test system, method and storage medium, where the test system includes a test environment rendering unit, a satellite positioning simulation unit connected to the test environment rendering unit, and a domain controller (usually referred to as an autopilot domain controller) connected to the satellite positioning simulation unit, so that the test environment may be simulated by the test environment rendering unit, and GNSS data and RTK data may be simulated by the satellite positioning simulation unit, so as to implement an autopilot function HIL test for fusing high-precision map data with the autopilot domain controller of the integrated positioning module and the high-precision map module, and further enable a HIL simulation test of the autopilot function based on the high-precision map data, such as high-speed NOP, urban NOA, and enhance the development and test capabilities of the high-order autopilot function.
The method is particularly mainly applied to a scene of performing HIL hardware in-loop simulation test on the integrated high-precision map data (such as an NDS high-precision map) and the multi-sensor fusion sensing, prediction decision and planning control of an engine, wherein the running state of the automatic driving domain controller in the simulation process is consistent with the running state of the automatic driving domain controller in a real vehicle, fig. 1 is a schematic diagram of the vehicle HIL hardware in-loop simulation test scene based on the high-precision map, as shown in fig. 1, a vehicle to be tested receives and processes GNSS satellite navigation signals through an antenna, meanwhile, differential calculation of the vehicle position is performed based on real-time dynamic differential data sent by an RTK service base station, and a positioning result is transmitted to a high-precision map module of a domain controller to support the broadcasting of map data and the running of lane-level positioning tasks.
The following detailed description of specific embodiments of the present disclosure refers to the accompanying drawings.
FIG. 2 is a block diagram of a vehicle functional test system, generally referred to as a HIL hardware-in-the-loop simulation test system, as shown in FIG. 2, according to one exemplary embodiment, comprising: a test environment rendering unit 201, a satellite positioning simulation unit 202 connected to the test environment rendering unit 201, and a domain controller 203 connected to the satellite positioning simulation unit 202;
the test environment rendering unit 201 is configured to render a functional test environment according to a first preset high-precision map, where the functional test environment is a simulated driving environment when the vehicle to be tested is subjected to a functional test;
the first preset high-precision map may be, for example, an Opendrive format high-precision map, and in general, the first preset high-precision map and the second preset high-precision map mentioned later may be high-precision maps generated by map suppliers with mapping qualification under the national mapping and map management regulation requirement frame by using original mapping point cloud data, so as to be called or referred by an automatic driving system.
The first preset high-precision map may be regarded as a description file of a road network topology, and the test environment rendering unit 201 may obtain road network data from the first preset high-precision map, and then render a functional test environment according to the road network data, where the road network data is used to characterize road information in the functional test environment; the road network data may include, for example, road position, number of lanes of a road, lane lines, sign marks (such as speed limit signs, speed reduction signs), and the like.
Taking the first preset high-precision map as an Opendrive format high-precision map as an example, in one possible implementation manner, the pre-generated Opendrive format high-precision map can be imported into a road editor of scene simulation software of the HIL test system, the road editor perfects road network data described in an Opendrive map file and generates road network simulation information, and the road editor can also generate scene information of the periphery of a road according to the road network data described in the Opendrive format high-precision map file, wherein the scene can comprise various elements such as mountains, rivers, plants, buildings, bridges, tunnels and the like and is used for rendering in the test process to form a near-real driving scene.
If the Opendrive map file defines the relevant elements of the scene, the road editor should refer to the Opendrive map file to require the road elements to be configured in the process of rendering the scene, so as to ensure that each map element in the simulation environment has higher matching degree with the map element of the high-precision map in the autopilot domain controller.
After the test environment rendering unit renders the function test environment, the vehicle to be tested can be controlled to run in the function test environment through an automatic driving function, and it is required to be specially explained that the vehicle to be tested belongs to a preset virtual vehicle relative to a real vehicle.
The satellite positioning simulation unit 202 is configured to calculate GNSS data and real-time dynamic RTK data corresponding to the vehicle to be tested after controlling the vehicle to be tested to run in the functional test environment.
The GNSS data may be, for example, GNSS satellite positioning analog signals, and the RTK data may be, for example, RTK real-time kinematic differential RTCM32 data.
After controlling the vehicle to be tested to run in the functional test environment, the scene simulation software can calculate a first position (i.e. longitude and latitude coordinates) of the vehicle to be tested in real time, meanwhile obtain running information such as a course angle and a speed of the vehicle to be tested, and then send the running information to the satellite positioning simulation unit through a standard ethernet protocol as a reference data source for simulation of satellite navigation signals, so that the satellite positioning simulation unit 202 can calculate the GNSS data and the RTK data according to the first position, the course angle and the speed of the vehicle, and a specific calculation process can refer to descriptions in related technologies and is not limited herein.
In one possible implementation, after the satellite positioning simulation unit 202 calculates the GNSS data and the RTK data, the GNSS satellite positioning simulation signal may be input to the domain controller 203 using a coaxial cable, and the RTCM32 data is sent to the domain controller 203 using an ethernet protocol.
It should be noted that, before controlling the vehicle to be tested to run in the rendered functional test environment, the system time initialization, that is, the test environment rendering unit 201, is further configured to synchronize the system time of the test environment rendering unit to the satellite positioning simulation unit 202, so as to support the vehicle to be tested to run in the functional test environment.
In addition, in order to ensure real-time acquisition of positioning data, the frequency of the data source output by the scene simulation software needs to meet the preset frequency requirement, for example, the frequency of the data source output by the scene simulation software should reach at least 100Hz.
The domain controller 203 is configured to determine a target positioning result of the vehicle to be tested according to the GNSS data and the RTK data, and test a target function of the vehicle to be tested according to the target positioning result.
The target positioning result may include a lane-level positioning result, where the lane-level positioning result is used to represent a current lane of the vehicle to be tested, and a relative position between the vehicle to be tested and the current lane, where the relative position refers to a relative distance between the vehicle to be tested and a left lane line of the current lane, and a relative distance between the vehicle to be tested and a right lane line of the current lane; the target functions may include, for example, a path planning function of a domain controller, a high speed NOP in a vehicle autopilot scenario, an urban NOA, etc.
Fig. 3 is a block diagram of a vehicle function test system according to the embodiment shown in fig. 2, and as shown in fig. 3, the domain controller 203 includes a positioning module 2031, a deflection module 2032 connected to the positioning module 2031, and an EHP map engine module 2033 connected to the deflection module 2032.
The positioning module 2031 is configured to obtain a second position of the vehicle to be tested after performing differential computation according to the GNSS data and the RTK data.
After the satellite positioning simulation unit calculates the GNSS data and the RTK data, the GNSS data and the RTK data may be injected into the positioning module 2031 in the domain controller 203, and the domain controller may obtain the positioning result simulated by the current HIL test system, that is, the second position of the vehicle to be tested, after performing real time difference resolving according to the GNSS data and the RTK data by the positioning module 2031, and the specific differential resolving process may refer to the description in the related art, which is not limited herein.
The deflection module 2032 is configured to perform deflection processing on the second position to obtain a deflected position of the vehicle to be tested.
Since the second preset high-precision map loaded in the EHP map engine module 2033 in the domain controller is usually biased map data, in order to facilitate the EHP map engine module 2033 to extract relevant data based on the biased second preset high-precision map data, it is also necessary to perform a deflection process on the second position of the vehicle to be tested, which is output by the positioning module, for example, the second position may be deflected into longitude and latitude information in the GCJ-02 coordinate system, so as to obtain the deflected position of the vehicle to be tested.
The EHP map engine module 2033 is configured to obtain a second preset high-precision map, where the format of the second preset high-precision map is different from that of the first preset high-precision map; and determining the lane-level positioning result according to the deflection position and the second preset high-precision map.
The second preset high-precision map may be, for example, deflected NDS map data.
In a possible implementation manner, the deflected NDS map database file generated by the map provider may be imported into the EHP map engine module 2033 in the domain controller, for invoking or referencing the EHP map engine module, where the importing method may be performed in a DOTA manner such as an upper computer data update tool or a cloud data issuing update.
For example, fig. 4 is a schematic diagram of a hardware-in-loop Simulation test system architecture of an integrated satellite positioning Simulation unit according to an exemplary embodiment, as shown in fig. 4, ADD in the diagram is a domain controller integrated with a positioning module (i.e. "positioning" in fig. 4) and an EHP map engine module (i.e. "EHP" in fig. 4), GNSS Simulation Module "in fig. 4 is a satellite positioning Simulation unit added on the basis of the architecture of the existing HIL test system of the disclosure, and" positioning PC "in fig. 4 is a test environment rendering unit in the disclosure, as shown in fig. 4, an Opendrive format high-precision map acquired from a map provider may be imported to the" positioning PC ", and an NDS high-precision map acquired from the map provider may be imported to the p map engine module in the domain controller; the scene Simulation software in the Simulation PC may calculate the longitude and latitude coordinate information of the vehicle in real time after controlling the vehicle to be tested to run in the functional test environment according to the road network data rendering functional test environment described in the Opendrive map file, send the longitude, latitude, heading angle, vehicle speed and other information to the GNSS Simulation Module and GNSS Simulation Module real-time computing the GNSS satellite positioning analog signal and the real-time dynamic differential RTCM32 data to be output through the standard ethernet protocol, input the GNSS satellite positioning analog signal to the positioning module in the domain controller (i.e. "Location positioning" in fig. 4) through the coaxial cable, send the RTCM32 data to the positioning module in the domain controller through the ethernet protocol, and output the positioning result after the calculation to the deflection module (i.e. the deflecting Plug-in fig. 4) to obtain the deflection position, and then input the deflection position to the EHP engine module to perform advanced lane positioning, which is not limited to the map.
After determining the lane-level positioning result, the domain controller 203 may perform a target function test on the basis of the lane-level positioning result, where one of the target functions is a path planning function, during the process of testing the path planning function of the vehicle domain controller 203 to be tested, the domain controller 203 may first receive vehicle navigation data sent by a preset cabin controller, where the preset cabin controller may be a simulated virtual cabin controller or an actual cabin controller, and the vehicle navigation data may be, for example, a start point and an end point of a target path to be planned, and may further include one or more positions on the target path, so that the domain controller 203 may perform an automatic driving path planning based on the vehicle navigation data and the lane-level positioning result, and may test the automatic driving path planning function of the domain controller 203 according to the path planning result.
In another possible application scenario, the high-speed NOP and/or urban NOA functions of the vehicle to be tested after the automatic driving function is started can be tested, if the current running state (such as the running speed, the transmission state of each control signal and the like) of the vehicle meets the starting condition of automatic driving in the process that the vehicle to be tested runs in the simulation test environment, the automatic driving function based on the high-precision positioning and the high-precision map is started by the vehicle to be tested, and then the high-speed NOP and/or urban NOA functions of the vehicle to be tested can be tested according to the target positioning result, for example, the vehicle to be tested runs in the simulation test environment according to the acceleration/deceleration request signal and the steering wheel corner/torque request signal of the automatic driving function in the virtual high-precision map simulation environment, so as to achieve the test purpose of different functional scenes.
By adopting the system, the vehicle function test environment can be simulated through the test environment rendering unit, and GNSS data and RTK data are simulated through the satellite positioning simulation unit, so that the automatic driving function HIL test of integrating the high-precision map data can be realized by the automatic driving domain controller of the integrated positioning module and the high-precision map module, and further the HIL simulation test of the automatic driving function based on the high-precision map data such as high-speed NOP, urban NOA and the like can be performed in the simulation test environment, and the development and test capability of the high-order automatic driving function are enhanced.
Based on the system, the problem that the existing HIL test system cannot test the functions of the automatic driving domain controller based on the high-precision positioning and the high-precision map is solved, dependence on real vehicle test means during similar test execution is eliminated, and faults can be conveniently injected into the positioning module and the map engine module for safety test; meanwhile, the functions of the automatic driving domain controller based on the high-precision positioning and the high-precision map can be tested and verified in the simulation environment in advance, and the input cost of real vehicle testing is reduced; in addition, scene generalization can be more conveniently carried out under the HIL simulation test environment, and the scene application range of vehicle function test is improved.
It should be noted that, in another possible implementation manner of the present disclosure, a map simulation test scheme with multiple formats and multiple scenes may be established based on a pre-established virtual city, so as to perform an HIL test on a vehicle function according to a high-precision map of the corresponding virtual city.
Fig. 5 is a flowchart illustrating a vehicle function test method according to an exemplary embodiment, which may be applied to the vehicle function test system shown in fig. 2, including a test environment rendering unit, a satellite positioning simulation unit connected to the test environment rendering unit, and a domain controller connected to the satellite positioning simulation unit.
As shown in fig. 5, the method comprises the steps of:
in step S501, a functional test environment is rendered by the test environment rendering unit according to a first preset high-precision map, where the functional test environment is a simulated driving environment when the vehicle to be tested is functionally tested.
The first preset high-precision map may be, for example, an Opendrive format high-precision map, and in general, the first preset high-precision map and the second preset high-precision map mentioned later may be high-precision maps generated by map suppliers with mapping qualification under the national mapping and map management regulation requirement frame by using original mapping point cloud data, so as to be called or referred by an automatic driving system.
In this step, road network data may be obtained from the first preset high-precision map, where the road network data is used to characterize road information in the functional test environment; the road network data may include, for example, data of a road position, a number of lanes of a road, lane lines, sign marks (such as speed limit signs, speed reduction signs), etc., and then the functional test environment is rendered by the test environment rendering unit according to the road network data.
In step S502, after the vehicle to be tested is controlled to run in the functional test environment, the GNSS data and the real-time dynamic RTK data corresponding to the vehicle to be tested are calculated by the satellite positioning simulation unit.
The GNSS data may be, for example, GNSS satellite positioning analog signals, and the RTK data may be, for example, RTK real-time kinematic differential RTCM32 data.
In this step, the running information of the vehicle to be tested may be obtained by the test environment rendering unit, where the running information includes a first position (i.e., longitude and latitude coordinates), a heading angle, and a vehicle speed of the vehicle to be tested; in this way, the satellite positioning simulation unit may calculate the GNSS data and the RTK data from the first position, the heading angle, and the vehicle speed by the satellite positioning simulation unit.
In addition, before the vehicle to be tested is controlled to run in the rendered functional test environment, system time initialization is needed to be performed, namely, after the system time of the test environment rendering unit is synchronized to the satellite positioning simulation unit, the vehicle to be tested is controlled to run in the functional test environment.
In step S503, a target positioning result of the vehicle to be tested is determined by the domain controller according to the GNSS data and the RTK data, and a target function of the vehicle to be tested is tested according to the target positioning result.
In one possible implementation manner, after the satellite positioning simulation unit calculates GNSS data and RTK data, the satellite positioning simulation unit may use a coaxial cable to input the GNSS data to the domain controller, and use an ethernet protocol to send the RTK data to the domain controller, so that the domain controller determines a target positioning result of the vehicle to be tested according to the GNSS data and the RTK data.
The domain controller comprises a positioning module, a deflection module connected with the positioning module and an EHP map engine module connected with the deflection module, wherein the target positioning result comprises a lane-level positioning result which is used for representing the relative position of the vehicle to be tested and a lane where the vehicle is positioned; the target functions may include, for example, a path planning function of a domain controller, a high speed NOP in a vehicle autopilot scenario, an urban NOA, etc.
In this step, a second preset high-precision map may be obtained by the EHP map engine module, where the second preset high-precision map is different from the first preset high-precision map in format, for example, the second preset high-precision map may be deflected NDS map data, and then a second position of the vehicle to be detected is obtained by performing differential computation by the positioning module according to the GNSS data and the RTK data; the deflection module deflects the second position to obtain a deflection position of the vehicle to be detected; and determining the lane-level positioning result through the EHP map engine module according to the deflection position and the second preset high-precision map.
After the lane-level positioning result is determined, a target function test can be performed on the domain controller based on the lane-level positioning result, wherein one item label function is a path planning function, and the test on the target function of the vehicle to be tested according to the target positioning result comprises the following steps:
receiving, by the domain controller, vehicle navigation data sent by a preset cabin controller, where the vehicle navigation data may be, for example, a start point and an end point of a target path to be planned, and may further include one or more positions on the target path; and the domain controller performs automatic driving path planning according to the vehicle navigation data and the lane-level positioning result.
In another possible application scenario, the high-speed NOP and/or urban NOA functions of the vehicle to be tested after the automatic driving function is started may also be tested, that is, the target functions include the high-speed NOP and/or urban NOA functions, and the testing the target functions of the vehicle to be tested according to the target positioning result includes:
and after starting the automatic driving function of the vehicle to be tested, testing the high-speed NOP and/or the urban NOA function of the vehicle to be tested according to the target positioning result.
In the process that the vehicle to be tested runs in the simulation test environment, if the current running state (such as running speed, transmission state of each control signal and the like) of the vehicle meets the starting condition of automatic driving, the vehicle to be tested starts an automatic driving function based on high-precision positioning and a high-precision map, then a high-speed NOP and/or urban NOA function of the vehicle to be tested can be tested according to a target positioning result, for example, the vehicle to be tested runs in the simulation test environment in a virtual high-precision map simulation environment according to the acceleration/deceleration request signal and the steering wheel angle/torque request signal of the automatic driving function, and the test purpose of different functional scenes is achieved.
The specific manner in which the operations are performed by the steps in the above embodiments has been described in detail in relation to embodiments of the system and will not be described in detail herein.
By adopting the method, the vehicle function test environment can be simulated through the test environment rendering unit, and GNSS data and RTK data are simulated through the satellite positioning simulation unit, so that the automatic driving function HIL test of integrating the high-precision map data can be realized by the automatic driving domain controller of the integrated positioning module and the high-precision map module, and further the HIL simulation test of the automatic driving function based on the high-precision map data such as high-speed NOP, urban NOA and the like can be performed in the simulation test environment, and the development and test capability of the high-order automatic driving function are enhanced.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle function test method provided by the present disclosure.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle function test method when being executed by the programmable apparatus.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (15)
1. A vehicle function test system, characterized in that the system comprises a test environment rendering unit, a satellite positioning simulation unit connected with the test environment rendering unit, and a domain controller connected with the satellite positioning simulation unit;
the test environment rendering unit is used for rendering a functional test environment according to a first preset high-precision map, wherein the functional test environment is a simulated running environment when a vehicle to be tested is subjected to functional test;
the satellite positioning simulation unit is used for calculating GNSS data and real-time dynamic RTK data of a global navigation satellite system corresponding to the vehicle to be tested after controlling the vehicle to be tested to run in the functional test environment;
the domain controller is used for determining a target positioning result of the vehicle to be tested according to the GNSS data and the RTK data and testing a target function of the vehicle to be tested according to the target positioning result.
2. The system according to claim 1, wherein the test environment rendering unit is configured to obtain road network data from the first preset high-precision map, the road network data being used to characterize road information in the functional test environment; and rendering the functional test environment according to the road network data.
3. The system of claim 1, wherein the test environment rendering unit is further configured to obtain driving information of the vehicle under test, the driving information including a first position, a heading angle, and a vehicle speed of the vehicle under test;
the satellite positioning simulation unit is used for calculating the GNSS data and the RTK data according to the first position, the course angle and the vehicle speed.
4. The system of claim 1, wherein the test environment rendering unit is further configured to control the vehicle under test to travel in the functional test environment after synchronizing a system time of the test environment rendering unit to the satellite positioning simulation unit.
5. The system of claim 1, wherein the domain controller comprises a positioning module, a deflection module coupled to the positioning module, and an EHP map engine module coupled to the deflection module, the target positioning result comprising a lane-level positioning result that characterizes a relative position of the vehicle under test and a lane in which the vehicle is currently located;
the positioning module is used for obtaining a second position of the vehicle to be detected after performing differential calculation according to the GNSS data and the RTK data;
the deflection module is used for carrying out deflection processing on the second position to obtain a deflection position of the vehicle to be detected;
the EHP map engine module is configured to obtain a second preset high-precision map, where the second preset high-precision map is different from the first preset high-precision map in format; and determining the lane-level positioning result according to the deflection position and the second preset high-precision map.
6. The system of claim 5, further comprising a preset cabin controller coupled to the domain controller, the target function comprising an autopilot path planning function, the domain controller configured to receive vehicle navigation data sent by the preset cabin controller; and carrying out automatic driving path planning according to the vehicle navigation data and the lane-level positioning result.
7. The system according to any one of claims 1-6, wherein the target functions comprise high speed NOP and/or urban NOA functions, the domain controller being further configured to test the high speed NOP and/or the urban NOA functions of the vehicle under test based on the target positioning result after starting an autopilot function of the vehicle under test.
8. The vehicle function test method is applied to a vehicle function test system and is characterized by comprising a test environment rendering unit, a satellite positioning simulation unit connected with the test environment rendering unit and a domain controller connected with the satellite positioning simulation unit; the method comprises the following steps:
rendering a functional test environment by the test environment rendering unit according to a first preset high-precision map, wherein the functional test environment is a simulated running environment when a vehicle to be tested is subjected to functional test;
after the vehicle to be tested is controlled to run in the functional test environment, calculating GNSS data and real-time dynamic RTK data of a global navigation satellite system corresponding to the vehicle to be tested through the satellite positioning simulation unit;
and determining a target positioning result of the vehicle to be tested through the domain controller according to the GNSS data and the RTK data, and testing the target function of the vehicle to be tested according to the target positioning result.
9. The method of claim 8, wherein the rendering of the functional test environment by the test environment rendering unit according to the first preset high-precision map comprises:
obtaining road network data from the first preset high-precision map, wherein the road network data are used for representing road information in the functional test environment;
and rendering the functional test environment through the test environment rendering unit according to the road network data.
10. The method of claim 8, wherein the method further comprises:
acquiring running information of the vehicle to be tested through the test environment rendering unit, wherein the running information comprises a first position, a course angle and a vehicle speed of the vehicle to be tested;
the calculating, by the satellite positioning simulation unit, GNSS data and real-time dynamic RTK data corresponding to the vehicle to be measured includes:
and calculating the GNSS data and the RTK data through the satellite positioning simulation unit according to the first position, the course angle and the vehicle speed.
11. The method of claim 8, wherein the method further comprises:
and synchronizing the system time of the test environment rendering unit to the satellite positioning simulation unit, and controlling the vehicle to be tested to run in the function test environment.
12. The method of claim 8, wherein the domain controller comprises a positioning module, a yaw module coupled to the positioning module, and an EHP map engine module coupled to the yaw module, the target positioning result comprising a lane-level positioning result that characterizes a relative position of the vehicle under test and a lane in which the vehicle is currently located; the method further comprises the steps of:
acquiring a second preset high-precision map through the EHP map engine module, wherein the format of the second preset high-precision map is different from that of the first preset high-precision map;
the determining, by the domain controller, the target positioning result of the vehicle to be detected according to the GNSS data and the RTK data includes:
performing differential calculation through the positioning module according to the GNSS data and the RTK data to obtain a second position of the vehicle to be detected;
the deflection module deflects the second position to obtain a deflection position of the vehicle to be detected;
and determining the lane-level positioning result through the EHP map engine module according to the deflection position and the second preset high-precision map.
13. The method of claim 12, wherein the target function comprises an autopilot path planning function, and wherein testing the target function of the vehicle under test based on the target positioning result comprises:
receiving vehicle navigation data sent by a preset cabin controller through the domain controller;
and carrying out automatic driving path planning through the domain controller according to the vehicle navigation data and the lane-level positioning result.
14. The method according to any one of claims 8-13, wherein the target functions comprise high speed NOP and/or urban NOA functions, and wherein the testing the target functions of the vehicle under test based on the target positioning results comprises:
and after starting the automatic driving function of the vehicle to be tested, testing the high-speed NOP and/or the urban NOA function of the vehicle to be tested according to the target positioning result.
15. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 8 to 14.
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