CN117471931A - Hardware-in-loop simulation test device, method, equipment and storage medium - Google Patents

Abstract

The invention provides a hardware-in-loop simulation test device, a method, equipment and a storage medium, wherein the device comprises: the system comprises a real-time simulator, an experiment management workstation, a real-time simulator, a power supply, a programmable power supply, a test conclusion generation system, an experiment management workstation, a real-time simulator and a real-time simulator, wherein the real-time simulator is used for receiving test demands, generating test instructions based on the test demands, sending the test instructions to the experiment management workstation of the real-time simulator, receiving test instructions, generating simulation test signals based on the test instructions, sending the simulation test signals to the real-time simulator of the domain control system to be tested, controlling the power supply of a hardware-in-loop simulation test device, adjusting the voltage based on the test demands, testing an object to be tested based on the test instructions, generating the domain control system to be tested of the test conclusion, wherein the experiment management workstation is connected with the real-time simulator based on Ethernet, and the real-time simulator is connected with the domain control system to be tested based on the Ethernet; the device realizes the automatic test of the vehicle system by analyzing the signal interaction logic of the cross-domain system.

Description

Hardware-in-loop simulation test device, method, equipment and storage medium

Technical Field

The application relates to the technical field of intelligent navigation, in particular to a hardware-in-the-loop simulation test device, method, equipment and storage medium.

Background

The Intelligent network automobile (Intelligent ConnectedVehicle, ICV) is an organic combination of the Internet of vehicles and Intelligent vehicles, is a new-generation automobile which is provided with advanced devices such as vehicle-mounted sensors, controllers and actuators, integrates modern communication and network technologies, realizes Intelligent information exchange and sharing of the vehicles, people, vehicles, roads, background and the like, realizes safe, comfortable, energy-saving and efficient running, and can finally replace people to operate. How to ensure that the functions and performances of the automatic driving (or high-order auxiliary driving) and the intelligent cabin meet the design and market demands is the key point of updating iteration.

The current intelligent network connection automobile test method simulation test method mainly comprises the methods of software on-loop (Software inthe loop, SIL), hardware on-loop (Hardware in the loop, HIL), vehicle on-loop (Vehicle in the loop, VIL) and the like. However, in the intelligent network-connected automobile, the problem of systematic interaction function test between automatic driving and an intelligent cabin is very large, so that the difficulty of testing and analyzing the intelligent network-connected automobile is high, and a large amount of manpower and material resources are consumed.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention provides a hardware-in-the-loop simulation test device, method, apparatus and storage medium, so as to solve the above-mentioned technical problem of great difficulty in testing and analyzing the systematic interaction function of the autopilot and the intelligent cabin.

The invention provides a hardware-in-the-loop simulation test device, which comprises: the experiment management workstation is used for receiving the test requirements, generating test instructions based on the test requirements, and sending the test instructions to the real-time simulation machine, wherein the experiment management workstation is connected with the real-time simulation machine based on Ethernet; the real-time simulator is used for receiving the test instruction, generating a simulation test signal based on the test instruction, and sending the simulation test signal to the domain control system to be tested, wherein the real-time simulator is connected with the domain control system to be tested based on Ethernet; the program-controlled power supply is used for controlling the power supply of the hardware-in-loop simulation testing device and adjusting the voltage based on the testing requirement, and is connected with the real-time simulator; and the domain control system to be tested is used for testing the object to be tested based on the test instruction and generating a test conclusion.

In one embodiment of the present invention, the experiment management workstation comprises: the automatic test software module is used for refreshing test version driving and cabin domain control software to obtain test requirements and determining a to-be-tested object; the experiment management software module is used for generating a test instruction based on the test requirement; the scene simulation software module is used for building an initial test environment and obtaining a target test environment corresponding to the test requirement based on the instruction; and the wireless communication module is used for being connected with the real-time simulation machine so as to realize information transmission between the experiment management workstation and the real-time simulation machine.

In an embodiment of the present invention, the real-time simulator includes: the high-performance processor module is used for running a real-time operating system to determine a target test signal required for testing the system to be tested based on the test instruction and collecting the target test signal; and the vehicle-mounted Ethernet card module is used for transmitting the target test signal acquired by the high-performance processor module to the domain control system to be tested.

In one embodiment of the invention, the high performance processor module comprises: the lower computer software sub-module is used for receiving the test instruction and generating a synchronous signal based on the test instruction so as to control the dynamic component to acquire a dynamic signal; and the dynamics component is used for determining a target dynamics signal based on the synchronous signal and acquiring the target dynamics signal.

In an embodiment of the present invention, the domain control system to be tested includes: the driving domain control module is used for controlling the high-order auxiliary driving software to receive driving control information, the driving control information comprises a target test environment and a target dynamic signal, the target test environment is generated based on the scene simulation software module, and the target dynamic signal is acquired based on the dynamic component; and the cabin domain control module is used for controlling the intelligent cabin software to receive the test path information, generating navigation control information based on the test path information and sending the navigation control information to the driving domain control module.

The application provides a hardware-in-the-loop simulation test method, which comprises the following steps: the experiment management workstation receives the test requirement and generates a test instruction based on the test requirement; the real-time simulator receives the test instruction, builds an initial test environment based on the test instruction, generates a simulation test signal, and sends the simulation test signal to a domain control system to be tested; the program-controlled power supply controls the power supply of the hardware-in-loop simulation testing device, and adjusts the voltage based on the testing requirement, and the program-controlled power supply is connected with the real-time simulator; and the domain control system to be tested tests the object to be tested based on the test instruction and generates a test conclusion.

In an embodiment of the invention, generating the analog test signal based on the test instruction includes at least one of: loading the initial test environment based on the test instruction to obtain simulation environment output target list information, wherein the initial test environment comprises a plurality of sensor models; determining the position information of a target vehicle in a static road network based on the initial test environment so as to obtain the simulated positioning information of a simulated vehicle corresponding to the target vehicle; assigning a value to the chassis signal in the initial test environment based on a preset communication protocol to obtain a simulated chassis signal of a simulated vehicle corresponding to the target vehicle; outputting a synchronous signal to scene software in the real-time simulator to obtain an analog pulse signal; the pre-fault information is input into the fault model device to obtain simulated fault information.

In an embodiment of the present invention, after the domain control system to be tested tests the object to be tested based on the test instruction and generates the test conclusion, the domain control system to be tested further includes: generating a test report based on the test conclusion; and sending the test report to a data demand end so that the data demand end can determine the completion state of the hardware in-loop simulation test based on the test report.

The application provides an electronic device, the electronic device includes: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic equipment realizes the hardware-in-loop simulation test method.

The present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a hardware-in-the-loop simulation test method as described above.

The invention has the beneficial effects that: the invention discloses a hardware-in-loop simulation test device, a method, equipment and a storage medium, wherein the device comprises: the system comprises a real-time simulator, an experiment management workstation, a real-time simulator, a power supply, a programmable power supply, a test conclusion generation system, an experiment management workstation, a real-time simulator and a real-time simulator, wherein the real-time simulator is used for receiving test demands, generating test instructions based on the test demands, sending the test instructions to the experiment management workstation of the real-time simulator, receiving test instructions, generating simulation test signals based on the test instructions, sending the simulation test signals to the real-time simulator of the domain control system to be tested, controlling the power supply of a hardware-in-loop simulation test device, adjusting the voltage based on the test demands, testing an object to be tested based on the test instructions, generating the domain control system to be tested of the test conclusion, wherein the experiment management workstation is connected with the real-time simulator based on Ethernet, and the real-time simulator is connected with the domain control system to be tested based on the Ethernet; by analyzing the signal interaction logic of the cross-domain system, the device realizes the automatic test of the vehicle system and effectively reduces the test difficulty of related test items.

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 application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:

FIG. 1 is a schematic diagram of an implementation environment of a hardware-in-the-loop simulation test method according to an exemplary embodiment of the present application;

FIG. 2 is a block diagram of a hardware-in-the-loop simulation test apparatus shown in an exemplary embodiment of the present application;

FIG. 3 is a flow chart of a hardware-in-the-loop simulation test method shown in an exemplary embodiment of the present application;

FIG. 4 is a flowchart illustrating a hardware-in-the-loop simulation test flow, according to an exemplary embodiment of the present application;

fig. 5 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.

Detailed Description

Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.

Firstly, it should be noted that the hardware-in-the-loop test method provided by the application solves the problems that the high-order auxiliary driving (including the intelligent pilot mode) and the intelligent cabin system test real vehicle are difficult and imperfect, the navigation information is simulated and shared, and the cross-domain system verification method is adopted. On one hand, the real vehicle verifies the associated system, and on the other hand, the real vehicle does not have an automatic test system, so that the timeliness of signals for realizing functions is difficult to verify; on the other hand, based on the hardware-in-the-loop method, the real vehicle is difficult to cover all functional logic tests of the related system, such as problems of difficult scene construction and reproduction, and problems of verification of the number of scenes, irreproducibility of dangerous scenes, low test efficiency and the like; the comparison of controllable automated test benches is obviously inconvenient and imperfect. The navigation information simulates the sharing problem, the pilot function of the real vehicle, part of positioning and navigation information comes from intelligent cabin domain control, and necessary simulation positioning information needs to be simultaneously given to the cabin domain control and the driving domain control so as to realize normal realization of functions such as scene reconstruction and the like. The hardware-in-the-loop test method fully analyzes the signal interaction logic of the cross-domain system through the cross-domain system verification method, and realizes automatic test based on signal characteristics and design of test version software of cabin and driving domain control.

FIG. 1 is a schematic diagram of an implementation environment of a hardware-in-the-loop simulation test method according to an exemplary embodiment of the present application; as shown in fig. 1, the implementation environment of the loop simulation test method includes a data acquisition device 101 and a computer device 102, where the data acquisition device 101 is used for testing requirements, and the information acquisition device may be a voice acquisition device or any other type of data acquisition device, such as text information acquisition, which is not limited in this application; the computer device 102 is configured to determine the object to be tested according to the test requirement acquired by the data acquisition device 101, generate a test instruction, construct a test environment, and finally test the object to be tested based on the test instruction corresponding to the test requirement, and generate a test conclusion. The computer device 102 may be at least one of a desktop graphics processor (Graphic Processing Unit, GPU) computer, a GPU computing cluster, a neural network computer, etc., or may be an intelligent processor integrated on the current vehicle, which is not limited in this application.

FIG. 2 is a block diagram of a hardware-in-the-loop simulation test apparatus, as shown in an exemplary embodiment of the present application. The device may be applied to the implementation environment shown in fig. 1. The apparatus may also be adapted to other exemplary implementation environments and may be specifically configured in other devices, and the present embodiment is not limited to the implementation environments to which the apparatus is adapted.

As shown in fig. 2, the exemplary hardware-in-loop simulation test apparatus includes: an experiment management workstation 210, a real-time simulator 220, a programmable power supply 230 and a domain control system under test 240.

The experiment management workstation 210 is configured to receive a test requirement, generate a test instruction based on the test requirement, and send the test instruction to the real-time simulator, where the experiment management workstation is connected with the real-time simulator based on ethernet; the real-time simulator 220 is configured to receive the test instruction, generate a simulated test signal based on the test instruction, and send the simulated test signal to the domain control test system, where the real-time simulator is connected with the domain control test system based on ethernet; the programmable power supply 230 is used for controlling the power supply of the hardware-in-loop simulation test device, regulating the voltage based on the test requirement, and connecting the programmable power supply with the real-time simulator; the domain control test system 240 is configured to test an object to be tested based on the test instruction, and generate a test conclusion.

In one embodiment of the present application, an experiment management workstation comprises: the automatic test software module is used for refreshing test version driving and cabin domain control software to obtain test requirements and determining a to-be-tested object; the experiment management software module is used for generating a test instruction based on the test requirement; the scene simulation software module is used for building an initial test environment and obtaining a target test environment corresponding to the test requirement based on the instruction; and the wireless communication module is used for being connected with the real-time simulation machine so as to realize information transmission between the experiment management workstation and the real-time simulation machine.

In one embodiment of the present application, as shown in fig. 2, a Windows operating system is used on the experiment management workstation 210, and an automation test software 211, an experiment management software 212 and a scene simulation software 213 are installed, and the experiment management workstation communicates with the real-time simulator 220 through ethernet, so as to implement data transmission between the experiment management workstation and the real-time simulator.

In one embodiment of the present application, a real-time simulator includes: the high-performance processor module is used for running the real-time operating system to determine a target test signal required by testing the system to be tested based on the test instruction and collecting the target test signal; and the vehicle-mounted Ethernet card module is used for transmitting the target test signal acquired by the high-performance processor module to the domain control system to be tested.

In one embodiment of the present application, as shown in FIG. 2, the real-time emulator 220 is configured with a high performance processor 221, a digital I/O signal board 222, a CAN communication card 223, an on-board Ethernet card 224, a synchronization signal 225, and a dynamics component 226.

In one embodiment of the present application, a high performance processor module includes: the lower computer software sub-module is used for receiving the test instruction and generating a synchronous signal based on the test instruction so as to control the dynamic component to acquire a dynamic signal; and the dynamics component is used for determining a target dynamics signal based on the synchronous signal and collecting the target dynamics signal.

In one embodiment of the present application, the high performance processor 221 runs a real-time operating system, is provided with a lower computer software, runs the dynamics component 226, gives the synchronization signal 225, collects the on-board ethernet signal in real time, and communicates with the experiment management workstation 1 via ethernet. The real-time simulator 2 transmits dynamic information and simulated sensor information to the driving domain control 241 through the vehicle-mounted Ethernet card 224, and collects feedback information of the system 240 to be tested.

In addition, in a specific embodiment of the present application, the programmable power supply 230 mainly controls the power supply of the whole testing device, adjusts the voltage according to the requirement, and supplies power to the system under test 4, which is controlled by the real-time simulator 220.

In one embodiment of the present application, a domain controlled system under test includes: the driving domain control module is used for controlling the high-order auxiliary driving software to receive driving control information, the driving control information comprises a target test environment and a target dynamic signal, the target test environment is generated based on the scene simulation software module, and the target dynamic signal is acquired based on the dynamic component; and the cabin domain control module is used for controlling the intelligent cabin software to receive the test path information, generating navigation control information based on the test path information and sending the navigation control information to the driving domain control module.

In one embodiment of the present application, as shown in fig. 2, the domain controlled test system 240 includes a driving domain control 241 running high-order auxiliary driving software and a cockpit domain control 242 running intelligent cockpit software. The high-order auxiliary driving software is used for testing the interaction functions of high-order auxiliary driving (comprising an intelligent pilot mode) and an intelligent cabin system.

In one embodiment of the present application, the driving software is configured as necessary to receive information actually from the scene simulation software 213 and the dynamics component 226 by utilizing its own frame characteristics. For the cabin domain control 242, the map information and navigation information in the scene simulation software 213 are also synchronized to the cabin map component, and then part of positioning information, navigation and coordinates are transmitted to the driving domain control 241 by the cabin domain control 242.

FIG. 3 is a flow chart of a hardware-in-the-loop simulation test method, which is shown in an exemplary embodiment of the present application.

As shown in fig. 3, in an exemplary embodiment, the hardware-in-the-loop simulation test method at least includes steps S310 to S340, which are described in detail as follows:

in step S310, the experiment management workstation receives the test requirement and generates a test instruction based on the test requirement.

Step S320, the real-time simulator receives the test instruction, builds an initial test environment based on the test instruction, generates a simulation test signal, and sends the simulation test signal to the domain control system to be tested.

In one embodiment of the application, the test management workstation selects a corresponding scene, the scene software sets navigation purposes, and the scene software industrial personal computer issues the navigation purposes to the cabin domain control and the driving domain control.

In one embodiment of the present application, generating an analog test signal based on the test instruction includes at least one of: loading an initial test environment based on the test instruction to obtain simulation environment output target list information, wherein the initial test environment comprises a plurality of sensor models; determining the position information of the target vehicle in the static road network based on the initial test environment to obtain the simulated positioning information of the simulated vehicle corresponding to the target vehicle; assigning a value to the chassis signal in the initial test environment based on a preset communication protocol to obtain a simulated chassis signal of a simulated vehicle corresponding to the target vehicle; outputting a synchronous signal to scene software in the real-time simulator to obtain an analog pulse signal; the pre-fault information is input into the fault model device to obtain simulated fault information.

In one embodiment of the present application, the simulated test signals are generated in a simulated manner, including fusion target simulation, positioning signal simulation, chassis signal simulation, synchronization pulse signal simulation, and fault signal simulation. The analog mode of each signal is specifically as follows:

fusing target simulation, namely loading a calibrated sensor (camera, radar and the like) model built in a test scene built by application scene software, and outputting target list information by a simulation environment;

positioning signal simulation, namely simulating positioning information of a vehicle in a simulation environment by constructing the position of a vehicle model constructed in a test scene in the application scene software in the static road network;

the chassis signal simulation, according to the chassis CAN signal protocol, analyzes the corresponding signal from the simulation test scene, and carries out assignment processing;

the synchronous pulse signal simulation is carried out, and a synchronous signal is output to scene software in a real-time simulator;

and simulating a fault signal, namely simulating a fault caused by an external factor in the fault injection equipment.

In addition, the test scene can be built by using scene software, a requirement test scene library can be built in advance, and the scene is loaded according to requirements when a test system is carried out. Preferably, the driving domain control open sensing fusion, the interface of the positioning component, the cabin domain control map information and the scene software map information are consistent, and the longitude and latitude coordinates (positioning information) given by the scene software are accepted.

And step S330, the programmable power supply controls the hardware-in-loop simulation testing device to power supply, adjusts the voltage based on the testing requirement and is connected with the real-time simulator.

In one embodiment of the application, an analog high-order auxiliary driving activation switch and an indication signal UI are configured in test management workstation test management software; and (3) linking the vehicle position and posture of the dynamic model to scene software, wherein the scene software feeds back coordinates and Z-direction displacement.

In one specific embodiment of the application, a user interaction interface is arranged in the test management software, such as simulating a high-order auxiliary driving activation switch and displaying various indication signals; and the mapping is matched with a dynamic model, scene software, driving domain control and cabin domain control communication interfaces, so that the driver model or driving domain control expected information (such as acceleration, speed, lane change and the like) is ensured to be correctly mapped and transmitted to the simulation vehicle, the scene software receives the information release sensor detection information such as the current position and posture of the simulation vehicle, and the driving domain control receives the current vehicle speed, acceleration, position and posture and sensor detection information (such as the position and posture of a target vehicle, the vehicle speed, a road and the like) to calculate and update expectations.

And step S340, the domain control system to be tested tests the object to be tested based on the test instruction and generates a test conclusion.

In one embodiment of the application, for the automatically-testable requirements, automation software is used to read the necessary internal and external information of the domain control, and a script is written in combination with the requirements to execute the test and output a report; and for non-automatizable tests, writing a semi-automatic test flow, recording data, analyzing test results, and evaluating the test results, and passing or failing.

In one embodiment of the present application, after the domain control to-be-tested system tests the to-be-tested object based on the test instruction and generates the test conclusion, the domain control to-be-tested system further includes: generating a test report based on the test conclusion; and sending the test report to the data demand end so that the data demand end can determine the completion state of the hardware-in-loop simulation test based on the test report.

FIG. 4 is a flowchart illustrating a hardware-in-the-loop simulation test flow, according to an exemplary embodiment of the present application.

As shown in fig. 4, the hardware-in-the-loop simulation test flow includes the following steps of firstly brushing test version driving and cabin domain software, then building a test environment and connecting all devices, then downloading configuration information of experiment management software to a real-time simulator and a cloud-cinning palace test system, finally recording test results and test evaluation, and ending the test.

In a specific embodiment of the present application, the method for testing the target vehicle based on the hardware-in-the-loop simulation test proposed in the present application includes the following steps:

step S01, the test version driving and cabin domain control software is written, wherein the test object is defined;

step S02, a test scene is built, and the main points are that an OpenDrive map containing navigation destinations, analog sensor signals, map signals and adaptation of driving corresponding software interfaces are met to meet the requirements of the related test;

step S03, connecting wires among devices to ensure normal power supply of a system to be tested, issuing a configuration file by a test management industrial personal computer, loading a dynamic component by a real-time simulation machine, synchronizing signals, receiving a scene by the system to be tested, and ensuring normal vehicle model information; the test management software acquires that the CAN and the vehicle-mounted Ethernet signals are normal;

step S04, the configuration information of the experiment management software is downloaded to a real-time simulator, mainly comprising a dynamic vehicle model and interface information containing synchronous logic;

step S05, a test system is operated, which mainly relates to automatic or semi-automatic test, for automatic test cases, check logic is written, pass and fail labels are output, for semi-automatic test cases, the test steps are executed, only data are automatically recorded, and manual analysis and evaluation are facilitated; connecting the intelligent navigation advanced auxiliary driving hardware with the circuit among all the devices of the loop test system, and powering up the devices;

and S06, recording test result test evaluation, integrating automatic test and semi-automatic test results, and outputting a test report.

The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic equipment realizes the hardware-in-loop simulation test method provided in each embodiment.

Note that, the present invention is not limited to the above-described embodiments. The hardware-in-the-loop testing device, the hardware-in-the-loop testing method, the hardware-in-the-loop testing device, the hardware-in-the-loop testing equipment and the hardware-in-the-loop testing storage medium adopt a system to be tested consisting of real driving domain control and cabin domain control, and the fused target information and positioning information are constructed through scene software and are given to the system to be tested, so that a plurality of functions of driving and cabin are tested and verified. Through automatic acquisition system, write the test case according to demand and scene, high-efficient, boundary verify system level function shortens the development cycle, can save the risk cost that a large amount of real vehicle tests brought.

Fig. 5 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application. It should be noted that, the computer system 500 of the electronic device shown in fig. 5 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

As shown in fig. 5, the computer system 500 includes a central processing unit (Central Processing Unit, CPU) 501, which can perform various appropriate actions and processes, such as performing the methods in the above-described embodiments, according to a program stored in a Read-only memory (ROM) 502 or a program loaded from a storage section 508 into a random access memory (Random Access Memory, RAM) 503. In the RAM 503, various programs and data required for the system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other through a bus 504. An Input/Output (I/O) interface 505 is also connected to bus 504.

The following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output portion 507 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, and a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN (Local AreaNetwork ) card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.

In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 509, and/or installed from the removable media 511. When executed by a Central Processing Unit (CPU) 501, performs the various functions defined in the system of the present application.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.

Another aspect of the present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a hardware-in-the-loop simulation test method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.

Another aspect of the present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the hardware-in-loop simulation test method provided in the above embodiments.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.

Claims (10)

1. A hardware-in-the-loop simulation test device, the device comprising:

the experiment management workstation is used for receiving the test requirements, generating test instructions based on the test requirements, and sending the test instructions to the real-time simulation machine, wherein the experiment management workstation is connected with the real-time simulation machine based on Ethernet;

the real-time simulator is used for receiving the test instruction, generating a simulation test signal based on the test instruction, and sending the simulation test signal to the domain control system to be tested, wherein the real-time simulator is connected with the domain control system to be tested based on Ethernet;

the program-controlled power supply is used for controlling the power supply of the hardware-in-loop simulation testing device and adjusting the voltage based on the testing requirement, and is connected with the real-time simulator;

and the domain control system to be tested is used for testing the object to be tested based on the test instruction and generating a test conclusion.

2. The hardware-in-the-loop simulation test apparatus of claim 1, wherein the experiment management workstation comprises:

the automatic test software module is used for refreshing test version driving and cabin domain control software to obtain test requirements and determining a to-be-tested object;

the experiment management software module is used for generating a test instruction based on the test requirement;

the scene simulation software module is used for building an initial test environment and obtaining a target test environment corresponding to the test requirement based on the instruction;

and the wireless communication module is used for being connected with the real-time simulation machine so as to realize information transmission between the experiment management workstation and the real-time simulation machine.

3. The hardware-in-the-loop simulation test apparatus of claim 1, wherein the real-time simulator comprises:

the high-performance processor module is used for running a real-time operating system to determine a target test signal required for testing the system to be tested based on the test instruction and collecting the target test signal;

and the vehicle-mounted Ethernet card module is used for transmitting the target test signal acquired by the high-performance processor module to the domain control system to be tested.

4. The hardware-in-the-loop simulation test apparatus of claim 3, wherein the high performance processor module comprises:

the lower computer software sub-module is used for receiving the test instruction and generating a synchronous signal based on the test instruction so as to control the dynamic component to acquire a dynamic signal;

and the dynamics component is used for determining a target dynamics signal based on the synchronous signal and acquiring the target dynamics signal.

5. The hardware-in-the-loop simulation test apparatus according to any one of claims 1-4, wherein the domain controlled test system comprises:

the driving domain control module is used for controlling the high-order auxiliary driving software to receive driving control information, the driving control information comprises a target test environment and a target dynamic signal, the target test environment is generated based on the scene simulation software module, and the target dynamic signal is acquired based on the dynamic component;

and the cabin domain control module is used for controlling the intelligent cabin software to receive the test path information, generating navigation control information based on the test path information and sending the navigation control information to the driving domain control module.

6. A hardware-in-the-loop simulation test method, the method comprising:

the experiment management workstation receives the test requirement and generates a test instruction based on the test requirement;

the real-time simulator receives the test instruction, builds an initial test environment based on the test instruction, generates a simulation test signal, and sends the simulation test signal to a domain control system to be tested;

the program-controlled power supply controls the power supply of the hardware-in-loop simulation testing device, and adjusts the voltage based on the testing requirement, and the program-controlled power supply is connected with the real-time simulator;

and the domain control system to be tested tests the object to be tested based on the test instruction and generates a test conclusion.

7. The hardware-in-the-loop simulation test method of claim 6, wherein generating a simulated test signal based on the test instruction comprises at least one of:

loading the initial test environment based on the test instruction to obtain simulation environment output target list information, wherein the initial test environment comprises a plurality of sensor models;

determining the position information of a target vehicle in a static road network based on the initial test environment so as to obtain the simulated positioning information of a simulated vehicle corresponding to the target vehicle;

assigning a value to the chassis signal in the initial test environment based on a preset communication protocol to obtain a simulated chassis signal of a simulated vehicle corresponding to the target vehicle;

outputting a synchronous signal to scene software in the real-time simulator to obtain an analog pulse signal;

the pre-fault information is input into the fault model device to obtain simulated fault information.

8. The hardware-in-the-loop simulation test method according to any one of claims 6 to 7, wherein after the domain control test system tests the object to be tested based on the test instruction and generates the test conclusion, the method further comprises:

generating a test report based on the test conclusion;

and sending the test report to a data demand end so that the data demand end can determine the completion state of the hardware in-loop simulation test based on the test report.

9. An electronic device, the electronic device comprising:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the hardware-in-loop simulation test method of any of claims 6 to 8.

10. A computer readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the hardware-in-the-loop simulation test method of any of claims 6 to 8.