WO2019117614A1 - Système et procédé pour tester une route à chaussée à conduite automatisée coopérative à application v2x et voiture connectée - Google Patents

Système et procédé pour tester une route à chaussée à conduite automatisée coopérative à application v2x et voiture connectée Download PDF

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Publication number
WO2019117614A1
WO2019117614A1 PCT/KR2018/015753 KR2018015753W WO2019117614A1 WO 2019117614 A1 WO2019117614 A1 WO 2019117614A1 KR 2018015753 W KR2018015753 W KR 2018015753W WO 2019117614 A1 WO2019117614 A1 WO 2019117614A1
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Prior art keywords
test
information
vehicle
data
road
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PCT/KR2018/015753
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English (en)
Korean (ko)
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권순일
정홍종
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주식회사 웨이티즈
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Priority claimed from KR1020180159629A external-priority patent/KR102145723B1/ko
Publication of WO2019117614A1 publication Critical patent/WO2019117614A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]

Definitions

  • the present invention relates to a V2X application autonomous collaborative road and connected car test system and method, and more particularly to a system and method for testing a V2X adapted autonomous cooperative road system and connected vehicles operating on the road.
  • Automobiles are being developed in the direction of providing safety, mobility, and convenience with ICT technology.
  • sensors such as radar and vision
  • the company provides safety support services such as blind zone warning, collision warning and ACC (Adaptive Cruise Control) to the driver.
  • ACC Adaptive Cruise Control
  • DSRC Dedicated Short-Range Communications
  • provides convenient services such as automatic fare collection and bus guide service.
  • V2X communication technology refers to vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication from the vehicle point of view.
  • Pedestrian to Vehicle P2V
  • P2D Pedestrian to Driver
  • P2V Pedestrian to Infrastructure
  • C-ITS Pedestrian to Infrastructure
  • P2I Pedestrian to Infrastructure
  • R2I Road Sensor Network and Road-to-Infrastructure
  • In-vehicle Network In-vehicle Network.
  • WAVE Wireless Access in Vehicular Environments
  • WLAN Wireless Local Area Networks
  • sensor communication technology can be used for R2I communication have.
  • V2X communication system is intended to provide safety and convenience services to all vehicles traveling in the C-ITS environment through V2V or V2I-based cooperative communication. Performance is required.
  • the present invention has been proposed in order to solve the above-mentioned problems of the prior art, and it is an object of the present invention to design a test scenario to test autonomous cooperative road systems and connected vehicles that run on the road, V2X application autonomous cooperation road and connected car test system which collect input / output / internal data for each system constituting the system, analyze and evaluate the autonomous cooperation road system and the function and performance of the test vehicle,
  • the present invention has been made in view of the above problems.
  • a V2X autonomous cooperation road and a connected car test system including an information collector for collecting data from a test object; An analysis client providing a UI for generating test rules and test scenarios; And a test system for generating a test rule and a test scenario selected through the UI of the analysis client, performing a V2X comprehensive test using data from the information collector according to a test scenario containing the generated test rule, And a test server.
  • the test object may include: a roadside base station device for outputting dynamic vehicle information and road information using V2X communication installed around the road; A central LDM for receiving traffic information, emergency information, vehicle driving information, and weather information, outputting a dynamic information message for each road, and receiving dynamic vehicle information and road information from the roadside base station; A vehicle communication terminal for outputting V2X information including dynamic information of the vehicle using V2X communication installed in the vehicle; And a vehicle gateway that processes / transmits V2X information from the in-vehicle communication terminal into the vehicle, and transmits the information received from the in-vehicle system to the in-vehicle system.
  • the information collector collects information from the roadside base station apparatus, the center LDM, the vehicle communication terminal, and the vehicle gateway and provides the collected information to the comprehensive test server; And a wireless packet sniffer for collecting packets transmitted on the wireless communication channel transmitted by the roadside base station and the intra-vehicle communication terminal and providing the packets to the integrated test server.
  • the data collector may provide the collected information to the comprehensive testing server including the collection time and the collection location information.
  • the comprehensive test server generates a test message in place of the center LDM, transmits the test message to the roadside base station apparatus, the intra-vehicle communication terminal and the vehicle gateway, collects information transmitted and received by the roadside base station apparatus, And a first mode for analyzing the collected information according to the generated test scenarios.
  • the comprehensive test server collects a message generated and transmitted by the center LDM, information transmitted and received between the roadside base station, the intra-vehicle communication terminal and the vehicle gateway, and analyzes the collected information according to the generated test scenario And a second mode.
  • the comprehensive test server may include a third mode for loading, analyzing, deleting, and modifying the test data collected through the information collector and the pre-collected test scenario data.
  • the embodiment of the present invention may further include a virtual information generator for providing the test object with virtual signals and information necessary for the test.
  • the virtual information generator transmits a GPS signal and a vehicle CAN signal for testing the communication terminal in the vehicle where the vehicle signal and the GPS signal are absent in the room, and the in-vehicle communication terminal receives the GPS signal and the vehicle CAN signal, Can be performed.
  • the analysis client includes an icon for moving a screen directly to enable movement to any one of a test rule editing screen, a test scenario editing screen, and a performance evaluation screen, a test rule and a test scenario use numerical status area, An area for displaying a test rule and a test scenario status on a map, an area for displaying a table showing a list of currently generated test scenarios, and a screen including a test rule information display area.
  • the V2X application autonomous cooperation road and connected car test method is a V2X application autonomous cooperation road and a connected car test system, Collecting data from an object; Generating test rules and test scenarios; Performing a V2X comprehensive test with the collected data according to a test scenario containing the generated test rule; And analyzing the results of the test.
  • unexpected situation (work section) information can be provided to the autonomous vehicle, and the autonomous vehicle can test the service avoiding the section. For example, testing for information processing (collection / storage / management / provision) function, testing for information processing (collection / storage / management / provision) performance, The test can be done.
  • the V2X communication system collects data on the wireless signal transmitted or received and transmits the collected data to the client for analysis so that the test for the V2X communication system can be performed easily and efficiently.
  • data is collected for a plurality of layers constituting the V2X communication system, such as received signal information, vehicle communication messages, logic data, and application result values, so that the cause of the problem according to the test result is more accurately analyzed can do.
  • FIG. 1 is a block diagram showing the overall configuration of an analysis system applied to the present invention.
  • FIGS. 2 and 3 are views for explaining an embodiment of the configuration of the V2X communication system.
  • FIG. 4 is a flowchart illustrating an analysis method for testing a V2X communication system applied to the present invention.
  • FIG. 5 is a block diagram illustrating an embodiment of a configuration of a data collector.
  • Figs. 6 and 7 are diagrams for explaining embodiments of functions and operations of the data collector. Fig.
  • FIG. 8 is a timing diagram illustrating an embodiment of a method for a data collector to collect wireless signal data from a V2X communication system.
  • FIGS. 9 and 10 are views for explaining an embodiment of a user interface (UI) provided from a data collector.
  • UI user interface
  • FIG. 11 is a block diagram for explaining an embodiment of a configuration of a data collector having a radio signal generating function.
  • FIG. 12 is a block diagram showing an embodiment of a configuration of a server.
  • FIG. 13 is a flowchart showing a V2X communication system event analysis method applied to the present invention.
  • FIG. 14 is a block diagram for explaining an embodiment of a configuration of a client.
  • UI 15 is a diagram illustrating an embodiment of a user interface (UI) provided for analyzing V2X communication system events.
  • FIG. 16 is a diagram for explaining an embodiment of a method for displaying an application result value in correspondence with a vehicle communication message.
  • 17 is a block diagram for explaining the configuration of a V2X application autonomous cooperation road and a connected car test system according to an embodiment of the present invention.
  • FIG. 18 is a drawing of a test environment in which a V2X applied autonomous cooperation road and a connected vehicle test system according to an embodiment of the present invention are applied to a vehicle system in which a center LDM and a RES are installed and an OBE is installed.
  • FIG. 19 is a view showing an indoor experimental environment using a V2X application autonomous cooperation road and a connected car test system according to an embodiment of the present invention.
  • 20 is a diagram showing a data flow.
  • 21 is a diagram showing an example of information collected / recorded in the data collector.
  • FIG. 22 and 23 show an embodiment of a data format that the test object transmits to a data collector (RSE Logger, HV Logger) in the embodiment of the present invention.
  • FIG. 24 is a view for explaining three modes of the comprehensive test server shown in FIG. 17; FIG.
  • 25 is a flowchart for explaining a V2X application autonomous cooperation road and a connected car test method according to an embodiment of the present invention.
  • Figs. 26 to 29 are examples of screens used in the description of Fig. 25. Fig.
  • FIG. 1 is a block diagram showing an overall configuration of an analysis system applied to the present invention
  • FIGS. 2 and 3 are views for explaining an embodiment of a configuration of a V2X communication system.
  • the analysis system 100 performs an analysis method for testing the V2X communication system 10.
  • the analysis system 100 may include a data collector 110, a server 120, and a client 130.
  • the data collector 110 collects data on a wireless signal transmitted or received in the V2X communication system 10.
  • the server 120 transmits wireless signal data collected by the data collector 110 to the client 130, As shown in FIG.
  • the V2X communication system 10 attaches to a vehicle and periodically transmits packet messages related to vehicle safety and the like, and periodically receives packet messages from a V2X communication system (not shown) attached to another vehicle.
  • the packet messages transmitted and received between the V2X communication systems include the ID information of the vehicle, the location information and the state information (for example, the traveling direction and speed, the deceleration and acceleration state, etc.) .
  • the V2X communication system 10 can know the distance between the vehicle to which it is attached and the nearby vehicle and the operation state of the surrounding vehicle by using the packet message periodically received from the V2X communication system of another vehicle as described above, It is possible to judge a dangerous situation.
  • a hardware module and a software stack to which a technology according to a standard standard is applied are included in the V2X communication system 10 so that a packet message can be transmitted and received between vehicles or between a vehicle and an infrastructure in a propagation environment in which the vehicle moves at high speed within a short period of time do.
  • WAVE communication technology standardized by IEEE in the United States is a technology that can transmit and receive packet messages between vehicles or vehicles and infrastructures within a short time of up to 1 km within 100 msec in a high-speed propagation environment.
  • the V2X communication system 10 to which the WAVE communication technology is applied may include a V2X communication module, a GPS module, a memory, a processor, and the like.
  • a processor included in the V2X communication system 10 is a processor for driving a safety application and can be interlocked with a vehicle internal network and can transmit application result values such as various warnings to a driver's display device have.
  • the software stack of the WAVE communication system can be divided into software on the kernel and application service software.
  • the software on the kernel includes a device driver, a MAC transmission / reception function, a routing function, an IP packet function, a WSMP safety message function, a management function and an authentication and security protocol function.
  • the application service software includes a vehicle safety service, And an operator interface.
  • the software stack of the WAVE communication system is composed of a plurality of layers as shown in FIG. 3, and each of the plurality of layers is designed to satisfy the function and performance of a specific communication standard.
  • Table 1 below shows information on a plurality of standards required for implementing a WAVE communication technology.
  • IEEE 802.11p is a physical (PHY) layer for wireless transmission And a MAC layer
  • IEEE 1609.x standard includes a multi-channel layer, a network layer, an authentication and security layer, and an application service layer mounted on IEEE 802.11p.
  • the SAE J2735 specification includes a message layer and defines a set of Dedicated Short Range Communication (DSRC) messages that are transmitted and received between vehicles or between the vehicle and the infrastructure.
  • DSRC Dedicated Short Range Communication
  • the SAE J2735 specification includes a message layer, includes a Safety Application layer, and defines the performance requirements and verification standards required for the service.
  • the V2X communication system 10 may include a V2X communication module including a plurality of layers to satisfy the WAVE communication standards as described with reference to FIGS. 2 and 3, Table 1 ,
  • the present invention is not limited thereto, and may be in accordance with other inter-vehicle communication standard specifications.
  • the analysis system 100 may include a plurality of data collectors 110, 140, and the plurality of data collectors 110, 140 may include a plurality of V2X communication systems 110, It is possible to collect the radio signal data as described above from the mobile stations 10 and 11.
  • the server 120 may collect the radio signal data for all the V2X communication systems 10 and 11 by receiving radio signal data collected from the plurality of data collectors 110 and 140, respectively.
  • the number of data collectors 110, 140 or V2X communication systems 10, 11 through which the wireless signal data is collected by the server 120 may be set to a value of two or more, depending on the capabilities of the analysis system 110 .
  • radio signal data for a plurality of V2X communication systems 10 and 11 are collected by a plurality of data collectors 110 and 140, , 11), e. G., By a single data collector 110. < / RTI >
  • data from two or more layers among a plurality of layers constituting a communication module of the V2X communication system 10 are collected by the data collector 110 in a test process, (120) to the client (130) to analyze the test results for the V2X communication system (10).
  • data may be collected from a plurality of layers of the V2X communication system 10, but the present invention is not limited thereto, Data may be collected from a plurality of layers.
  • data may be collected by the data collector 110 from each of the communication protocol stack, the V2X security service middleware, the V2X security service, the positioning algorithm, and the vehicle internal network that make up the V2X communication system 10.
  • the test for the V2X communication system 10 can be performed easily and efficiently, and in the case where a problem occurs in the test result, it is possible to accurately analyze at what layer the cause of the problem occurs.
  • FIG. 4 illustrates a vehicle-to-object communication system applied to the present invention.
  • FIG. 4 is a flowchart showing an analysis method for testing a V2X communication system applied to the present invention.
  • the analysis method shown in FIG. 4 is associated with a block representing an overall configuration of an analysis system applied to the present invention shown in FIG. 1 Explain.
  • the data collector 110 collects data on a wireless signal transmitted or received in the V2X communication system 10 from the V2X communication system 10 (step S300).
  • the wireless signal data collected in step S300 may be collected from a plurality of layers constituting the V2X communication system 10 and may include received signal information, vehicle communication messages, logic data, application result values, and the like .
  • more than one of the received signal information, the vehicle communication message, the logic data, and the application result value may be collected from the V2X communication system 10 by the data collector 110.
  • the received signal information includes Received Signal Strength Indicator (RSSI) and Channel Busy Ratio (CBR), which may be data collected from the physical / MAC layer of the V2X communication system 10.
  • RSSI Received Signal Strength Indicator
  • CBR Channel Busy Ratio
  • the data collected from the physical / MAC layer of the V2X communication system 10 is not limited to the received signal strength (RSSI) and the channel busy ratio (CBR), and the SNR including the noise information (Signal to Noise Ratio ), And the like.
  • RSSI received signal strength
  • CBR channel busy ratio
  • SNR noise information
  • the vehicle communication message may include a Basic Safety Message (BSM), a Driver Information Message (TIM), a Road Information Base Message (TIM), and a Roadside Base Station Warning (VID) message received from one or more other V2X communication systems (not shown) (RSA, Roadside Alert) data, which may be data collected from the message layer of the V2X communication system 10.
  • BSM Basic Safety Message
  • TIM Driver Information Message
  • TIM Road Information Base Message
  • VIP Roadside Base Station Warning
  • RSA Roadside Alert
  • the BSM includes BSM data elements defined in the SAE J2735 standard and includes, for example, UTC time, Latitude, Longitude, Elevation, Speed, Heading, Data such as system state (traction, abs, scs, brakeBoost, auxBrakes) and vehicle size (Width, Length)
  • the data collected from the message layer of the V2X communication system 10 is not limited to the above-described data, and further includes data related to the nearby vehicles such as the PATH HISTORY and PATH PREDICTION can do.
  • the logic data is computed in the V2X communication system 10 using a vehicle communication message received from one or more other V2X communication systems (not shown), and includes the object classification (TC) defined in the SAE J2945 standard, Time-to-collision (TTC), time-to-intersection (TTI), and distance-to-intersection (DTI)
  • TC object classification
  • TTC Time-to-collision
  • TTI time-to-intersection
  • DTI distance-to-intersection
  • the application result value is determined in the V2X communication system 10 using the calculated logic data.
  • the application result value is a forward collision warning (FCW), an emergency brake warning (EEBL)
  • FCW forward collision warning
  • EBL emergency brake warning
  • a vehicle safety application such as Brake Lights, Blind Spot Warning, LCW, Lane Change Warning and Intersection Movement Assist (IMA).
  • logic data and application result values may be collected by the data collector 110 from the Safety Application layer of the V2X communication system 10.
  • the server 120 transmits at least a part of the wireless signal data collected by the data collector 110 from the V2X communication system 10 to the client 130 in step S300.
  • the client 130 analyzes the test result of the V2X communication system 10 using the wireless signal data transmitted from the server 120 (step S320).
  • the client 130 may perform real-time tracking of the test results currently being performed using the wireless signal data transmitted from the server 120, It is possible to perform the performance analysis on the test result that has been completed by receiving the signal data.
  • the client 130 analyzes the test result using the wireless signal data transmitted from the server 120.
  • At least some of the analysis steps may be performed by the server 120.
  • the data collector 110 may further collect location information of the vehicle to which the V2X communication system 10 is attached and the collected location information may be synchronized with the wireless signal data collected from the V2X communication system 10, To the client 130 via the network 120.
  • the client 130 may extract a part of the wireless signal data transmitted from the server 120 and perform the analysis.
  • the server 120 may collect the wireless signal data collected by the data collector 110
  • the client 130 may extract some data to be analyzed from the wireless signal data and transmit the extracted data to the client 130.
  • the data collector 110 includes a core layer 111 and a plug-in layer 112, .
  • the core layer 111 may include an input adapter and an output adapter for inputting and outputting data, and a control adapter for a test control interface (TCI).
  • TCI test control interface
  • the test control interface (TCI) may be a special protocol that works only with a specific V2X communication system, and may be a standardized protocol.
  • the data collector 110 is connected to the V2X communication system 10 and the positioning system via the input adapter in a wired or wireless communication manner to transmit data about wireless signals transmitted or received in the V2X communication system 10, It is possible to collect positional information of the user.
  • the wireless signal data and the position information may be temporarily stored in the database of the core layer 111 in synchronization with each other.
  • the wireless signal data and the position information stored in the database may be exported to a file through an output adapter, Or may be transmitted to the server 120 and uploaded.
  • test control interfaces may be provided that include conditions for testing the V2X communication system 10 of the vehicle via the control adapter of the core layer 111.
  • the core layer 111 includes an input manager for managing and controlling the operations of the data collector 110 as described above, an output manager sync, a database manager, a flow manager, a configuration manager, and a status control may be provided.
  • the data collector 110 transmits positioning data collected from a positioning system to a user datagram protocol (UDP) using an Ethernet communication method through a source device plug- ).
  • UDP user datagram protocol
  • the data collector 110 can receive the V2X packet, which is the wireless signal data collected from the V2X communication system 10, via the OBU source plug-in using UDP using the Ethernet communication method.
  • Ethernet communication method and the UDP protocol are examples of a communication method used by the data collector 110 for collecting data, and the present invention is not limited thereto.
  • the V2X packet and the positioning data input through the OBU source plug-in and the positioning device source plug-in are synchronized with each other by the data / procedure manager and then transmitted through the upload sync plug-in May be transmitted to the server 120.
  • the V2X packet and the positioning data can be uploaded to the server 120 in HTTPS using an LTE (Long Term Evolution) communication method, but the present invention is not limited thereto.
  • LTE Long Term Evolution
  • various wired / wireless communication methods such as WIFI Can be used.
  • the location information (positioning data) and the wireless signal data (V2X packet) include a system timestamp for time synchronization and are temporarily stored in the database, 120, < / RTI >
  • V2X packet and positioning data may be output to a file via an output sync plug-in.
  • the data collector 110 configures a data input / output interface in an expandable plug-in form to transmit data from various vehicle sensors as well as a V2X communication system and a positioning system by using a communication method such as Ethernet, USB, And can transmit data in various forms using a communication method such as 3G, 4G, Wifi, and file I / O.
  • FIG 8 is a timing diagram illustrating one embodiment of a method by which the data collector 110 collects wireless signal data from the V2X communication system 10 and is similar to that described with reference to Figures 1-7, A description of what will be described below will be omitted.
  • the data collector 110 may send a "PKT SETUP" packet to the V2X communication system 10 to set a parameter for testing the V2X communication system 10.
  • the data collector 110 may first set communication parameters for performing a test through a user interface (UI) provided as shown in the screen of FIG. 9 may be displayed on the client 130 or may be displayed on the data collector 110 itself when the data collector 110 includes a display module.
  • UI user interface
  • the "Logger UI" provided from the data collector 110 includes a first area 810 for displaying on the map information about the location where the test is performed, a V2X / GPS A second area 820 for indicating a packet, location information (latitude, longitude, altitude) and received signal strength (RSSI), and parameters for performing a radio signal performance test, And a third area 830 for identifying the first area 830.
  • TID for identifying the test
  • VEHICLE ID for identifying the vehicle
  • DEVICE ID for identifying the V2X communication system to be tested through the third area 830
  • the user can activate the transmission / reception mode (TX MODE, RX MODE), set the channel (CHAN), set the transmission / reception antennas (TX ANT, RX ANT) You can set the transmit / receive control (TX CTRL), or set the packet rate (RATE), length (LEN) and interval (INTERVAL).
  • connection with the outside through the input / output plug-ins of the data collector 110 as described above can be respectively set and controlled, and the connection state and the information transmission The state can be confirmed.
  • the "PKT_SETUP" packet transmitted from the data collector 110 to the V2X communication system 10 includes a "PKT_SETUP " packet including parameters set through the third area 830 of the" Logger UI "Quot; VPCONF "packet to the V2X communication system 10.
  • the data collector 110 then sends a "PKT_STAT" packet to the V2X communication system 10 to request confirmation of the operational state (normal operation) of the V2X communication system 10,
  • the control unit 10 may transmit the packet VPSTAT to the data collector 110 including information on its operating state (normal operation state).
  • the operation status confirmation request from the data collector 110 to the V2X communication system 10 and the operation status information response from the V2X communication system 10 to the data collector 110 may be periodically performed.
  • PKT_START a packet for notifying the start of data collection to the V2X communication system 10
  • Data PKT_GPS may be sent to data collector 110 and begin to be collected.
  • the V2X communication system 10 can be operated according to a predefined operating method without parameter setting.
  • the V2X communication system 10 can transmit the layer-by-layer packet data to the data collector 110 without receiving commands of "PKT_SETUP”, “PKT_START”, and "PKT_STOP".
  • the data collector 110 further includes a function of generating a wireless signal to be used for testing of the V2X communication system 10, ) Can be easily performed to test for high risk or repetitive situations.
  • FIG. 11 is a block diagram for explaining an embodiment of a configuration of a data collector having a radio signal generating function, and the data collector shown may be implemented in the form of a test box 150 including a V2X communication module 151 have.
  • the test box 150 may include a V2X communication module 151, a GPS module 152, and a wireless communication module 153 and a plurality of antennas for wireless signal transmission and reception.
  • the V2X communication module 151 is configured to include a plurality of layers according to the above-described vehicle communication standard specifications, and can generate a wireless signal including a packet message for vehicle communication and transmit the wireless signal through the antenna.
  • V2X communication module 151 may be the same as the configuration of the V2X communication system 10 as described above, and a detailed description thereof will be omitted.
  • the wireless signal generated by the V2X communication module 151 may be transmitted to the V2X communication module 151 in accordance with vehicle communication standard specifications (for example, IEEE 802.11p, IEEE 1609.x, and SAE J2735) Lt; / RTI > message.
  • vehicle communication standard specifications for example, IEEE 802.11p, IEEE 1609.x, and SAE J2735
  • the GPS module 152 may generate a GPS signal including virtual vehicle location information and transmit the GPS signal through the antenna.
  • the wireless signal generated by the V2X communication module 151 and the GPS signal generated by the GPS module 152 may be received in peripheral V2X communication systems including the V2X communication system 10.
  • the wireless signal received by the V2X communication system 10 and the data of the GPS signal may be collected by the test box 150 through the input interface 154 using a communication method such as Ethernet, CAN, have.
  • the wireless signal and the GPS signal data collected by the test box 150 are stored in the database 155 and can be uploaded to the server 120 through the wireless communication module 153 using a communication method such as LTE or WIFI .
  • various sensing data can be additionally collected from the external environment.
  • FIG. 12 is a block diagram of an exemplary configuration of a server.
  • the server 120 includes a database 124, a management module 121, a data receiving unit 122, and an output data generating unit 123 Lt; / RTI >
  • the wireless signal data collected by the data collector 110 and uploaded to the server 120 may be stored in the database 124.
  • the management module 121 includes an authentication management unit for managing user authentication and the like, a data management unit Data for creating a space for storing new test data and assigning an ID (test ID) a rule manager for managing an analysis rule for extracting data of interest, a report manager for organizing data for a plurality of tests and providing the data as a report, have.
  • an authentication management unit for managing user authentication and the like
  • a data management unit Data for creating a space for storing new test data and assigning an ID (test ID) a rule manager for managing an analysis rule for extracting data of interest
  • a report manager for organizing data for a plurality of tests and providing the data as a report, have.
  • the data receiving unit 122 includes a decompressor, an authenticator, a checker, a filter, and a field mapper.
  • the control unit 121 controls the data receiving unit 122, The data can be collected according to the data.
  • the output data generator 123 includes a query receiver for receiving data collected through the data receiver 122 and an output data generator for outputting the input data to the client 130 can do.
  • the server 120 first generates a test ID for identifying the test through the management module 121 and uploads the collected data from the data collector 110 through the data receiving unit 122, 130).
  • the decompression unit of the data receiving unit 122 selectively performs decompression of the raw data collected by the data collector 110, the authentication unit performs authentication for the user,
  • the range of the raw data value (Value range) and the test ID (TEST ID) can be confirmed.
  • the field mapping unit can use the test ID (TEST ID) and the vehicle ID (VEHICLE ID) to optimize the data field and reconstruct the data structure.
  • the data output from the field mapping unit may be composed of basic data to be transmitted to the client 130 by the output data generation unit 123.
  • test IDs TEST IDs
  • the client 130 can analyze the test result for the V2X communication system 10 using the basic data transmitted from the server 120.
  • a vehicle communication message transmitted / received between vehicles and an application result value determined based thereon are displayed in association with each other according to the passage of time, thereby facilitating application-related tests performed in the V2X communication system can do.
  • the event to be analyzed may include an application result value determined according to the communication message transmitted and received between the vehicle and the vehicle communication message as described above.
  • FIG. 13 is a flowchart illustrating a V2X communication system event analysis method applied to the present invention.
  • the wireless signal data collected by the data collector 110 of the analysis system 100 is transmitted to the client 130 through the server 120 And then analyzing the event of the V2X communication system.
  • the client 130 collects data on the wireless signals transmitted or received respectively in the first V2X communication system provided in the first vehicle and the second V2X communication system provided in the second vehicle (S1100 step).
  • the first vehicle is a host vehicle (HV)
  • the second vehicle is a remote vehicle (RV) around the host vehicle HV
  • the remote vehicle (RV) may be two or more .
  • the server 120 may search the database for data corresponding to the test ID (TEST ID) selected by the user and transmit the data to the client 130 for data collection in the step S1100, And can receive synchronized vehicle positioning data from the server 120 using the system time stamp with the wireless signal data of the system.
  • TEST ID test ID
  • the method by which the client 130 obtains the radio signal data and the vehicle positioning data of the V2X communication systems provided in the plurality of vehicles in the step S1100 is performed by the data collector 110 as described with reference to Figs.
  • the wireless signal data and the positioning data are collected from the V2X communication system and the positioning system provided in the vehicle and the collected data can be transmitted to the client 130 through the server 120.
  • the data collector 110 may collect wireless signal data from a plurality of layers constituting the V2X communication system.
  • the client 130 obtains information on the vehicle communication message transmitted by the second V2X communication system using the wireless signal data collected in step S1100 (step S1110), and the second V2X communication system transmits And acquires information on the application result value determined in the first V2X communication system based on the one vehicle communication message (S1120).
  • the information about the vehicle communication message obtained in the step S1110 may be information collected from the second V2X communication system provided in the second vehicle, and may include information such as time, position, speed, direction, (BSM) data representative of the < / RTI >
  • BSM time, position, speed, direction,
  • the client 130 uses the radio signal data collected from the first V2X communication system provided in the first vehicle to transmit the vehicle communication message transmitted by the second V2X communication system provided in the second vehicle to the first V2X communication system It is possible to additionally determine whether or not it has been received.
  • the information on the application result value obtained in step S1120 may be information collected from the first V2X communication system provided in the first vehicle, and may include a forward collision warning (FCW), an emergency brake detection warning Emergency Electronic Brake Lights (EEBL), Blind Spot Warning (BSW), Lane Change Warning (LCW), and Intersection Movement Assist (IMA).
  • FCW forward collision warning
  • EBL Emergency Electronic Brake Lights
  • BSW Blind Spot Warning
  • LCW Lane Change Warning
  • IMA Intersection Movement Assist
  • the client 130 processes the vehicle communication message transmitted by the second V2X communication system and the application result value determined in the first V2X communication system so as to be displayed in correspondence with each other (S1130).
  • the client 130 can display the application result value and the change of the vehicle communication message in synchronization with each other over time.
  • the client 130 includes a database 131, a data acquisition unit 132, a preprocessor 133, and a playback unit 134 And the like. Operations of the client 130 shown in FIG. 14 will not be described below with respect to the same descriptions as those described with reference to FIG. 1 through FIG.
  • data received from the server 120 through the data acquisition unit 132 of the client 130 may be stored in the database 131.
  • the data acquisition unit 132 may include a decompression unit for selectively performing decompression on data received from the server 120, an authentication unit for performing user authentication, and a test ID And a query generating unit for querying the data.
  • the preprocessor 133 applies filtering such as a time filter, a space filter, and a metric filter to the data received from the server 120 through the data obtaining unit 132 And extracts data on the interest interval to be analyzed.
  • filtering such as a time filter, a space filter, and a metric filter
  • a time filter is applied to the data received from the server 120 to extract data corresponding to a specific time domain.
  • a space filter may be applied to the data received from the server 120 to extract data corresponding to a specific location area.
  • a metric filter is applied to the data received from the server 120, Data can be extracted.
  • the HV tracer of the playback unit 134 may acquire radio signal data for the first vehicle, which is the host vehicle HV, and logic data therefrom, thereby configuring the movement path of the first vehicle and the like.
  • the RV tracer can acquire the radio signal data and the corresponding logic data for the second vehicle, which is the remote vehicle (RV), and configure the movement path of the second vehicle and so on.
  • RV remote vehicle
  • the path estimating unit calculates the path of the second vehicle using the basic safety message (BSM) data received from the V2X communication system of the second vehicle, which is the V2X communication system of the first vehicle, which is the host vehicle HV, A travel route, and the like.
  • BSM basic safety message
  • the visualization unit plays a role of processing such that the application result value and the change of the vehicle communication message are displayed in synchronization with each other over time.
  • the application result value and the change of the vehicle communication message processed as described above can be displayed on the screen through a display module (not shown) provided or connected to the client 130.
  • test ID TEST ID
  • Event Analysis Event Analysis
  • a screen for analyzing an event includes a map area 1310, a vehicle information area 1320, an event display area 1330, a detailed information area 1340, and a graph display area 1350 .
  • a map image indicating the position of each vehicle at the current time point along with the travel path of the vehicles participating in the test may be displayed.
  • the map image is automatically scrolled so that the route and current position of all the vehicles are displayed and the zoom ratio can be changed.
  • vehicle information area 1320 information on the vehicles participating in the test may be displayed, and any one of the vehicles V01 and V02 may be set as the host vehicle HV.
  • Vehicle communication messages transmitted by the respective vehicles V01 and V02 are continuously displayed in the course of time in the event display area 1330.
  • Vehicle communication messages set in the host vehicle HV for example, V02
  • An application result value determined based on the vehicle communication message received from the remote vehicle RV can be displayed.
  • the logic data is computed using a vehicle communication message received from a remote vehicle RV and may include an object classification TC, a time-to-collision (TTC) -to-Intersection, Distance-To-Intersection (DTI), and the like.
  • object classification TC object classification
  • TTC time-to-collision
  • DTI Distance-To-Intersection
  • the graph display area 1350 displays a graph image showing changes in speed for each of the vehicles V01 and V02 and distance from the host vehicle HV of the remote vehicle RV, A graph image representing a change in communication performance over time such as packet transmission ratio (PDR), received signal strength (RSSI), and GPS error of the vehicle can be displayed.
  • PDR packet transmission ratio
  • RSSI received signal strength
  • GPS error of the vehicle can be displayed.
  • FIG. 16 is a view for explaining an embodiment of a method of displaying an application result value in correspondence with a vehicle communication message.
  • the event display area 1330 Are displayed in synchronization with each other.
  • an application result value 1400 determined by the host vehicle HV may be displayed at a position corresponding to the corresponding point in time.
  • vehicle communication messages 1410 and 1420 transmitted by the vehicles V01 and V02 participating in the test can be sequentially displayed from left to right according to the passage of time.
  • the application result value of the host vehicle HV may be determined based on the vehicle communication message 1410 transmitted by the remote vehicle RV prior to the point in time.
  • vehicle communication messages transmitted by the remote vehicle RV may not be received in the host vehicle HV, and the vehicle communication message may be displayed to distinguish it from the normally received vehicle communication message using color have.
  • the application result value and the vehicle communication messages in a block form as shown in FIG. 16 move from left to right as time passes, and a new application result value And vehicle communication messages are displayed.
  • vehicle-to-object communication system analysis method and system applied to the present invention can be applied to various vehicle communication standards such as Europe or Japan.
  • 17 is a block diagram for explaining the configuration of a V2X application autonomous cooperation road and a connected car test system according to an embodiment of the present invention.
  • the traffic information center, the traffic information of the transportation agent, and the weather agency can be collectively referred to as an external system.
  • the traffic information center, the traffic information of the transportation company and the weather agency collect information related to the roads, traffic and weather generated by the police, to provide.
  • the center LDM 400, the RSE 401, the OBE 402, and the vehicle gateway 403 may be collectively referred to as an autonomous cooperation traveling system (subject to be tested).
  • the center LDM (Local Dynamic Map) 400 is a dynamic information system. In order to collect / store / manage / provide spatial information about road traffic, conceptual information Have a management system. Generally, layers 1 to 4 are defined. Layer 1 denotes fixed information such as map information, and layer 4 denotes update data per second, such as vehicle movement. In other words, the center LDM 400 is a conceptual data store that is embedded in the ITS station and includes topological and positional status information associated with the ITS station within the geographic area surrounding the host station.
  • the center LDM 400 receives traffic information, unexpected information, vehicle driving information, and weather information, outputs a dynamic information message for each road, and receives dynamic vehicle information and road information from the RSE 401 .
  • the roadside equipment (RSE) 401 is a roadside equipment, and is a communication infrastructure device capable of providing information using V2X communication installed around the road.
  • the RSE 401 is a roadside apparatus located along a road transportation network for data exchange and communication with the vehicle-mounted apparatus.
  • the RSE 401 can receive a dynamic information message and a vehicle driving message, and can output a V2X message including information such as road / signal / disturbance. Meanwhile, the RSE 401 can transmit the vehicle dynamic information collected from the OBE 402 and the dynamic information generated by the RSE 401 to the center LDM 400.
  • the onboard equipment (OBE) 402 is an in-vehicle communication terminal, which is a device capable of communicating information using V2X communication installed in the vehicle.
  • the OBE 402 may be a communication device installed in the vehicle, capable of wireless communication, and performing information exchange between the interfaces of the lower apparatuses.
  • the OBE 402 can receive a V2X message including information such as road / signal / disturbance from the RSE 401, and can display an HMI. In addition, the OBE 402 can output a V2X message including dynamic information of the vehicle.
  • the vehicle gateway 403 receives the message from the OBE 402 of the vehicle and transmits the data to other systems in the vehicle.
  • the vehicle gateway 403 can process / transfer the V2X information received from the OBE 402 to the inside of the vehicle, and can transmit the information received from the in-vehicle system to the in-vehicle system.
  • the V2X coverage autonomous collaboration road and connected car test system 300 includes a data collector 310, a wireless packet sniffer 320, a comprehensive test server 330, an analysis client 340, And a virtual information generator 350.
  • the data collector 310 collects information from the center LDM 400, the RSE 401, the OBE 402, and the vehicle gateway 403 and provides the information to the comprehensive test server 330.
  • the data collector 310 includes a time synchronization function and can provide the collected information to the comprehensive test server 330 including the collection time and the collection position information.
  • the wireless packet sniffer 320 may collect packets transmitted on the wireless communication channel transmitted by the RSE 401 and the OBE 402 and provide the collected packets to the comprehensive test server 330.
  • the above-described data collector 310 and wireless packet sniffer 320 may be collectively referred to as an information collector.
  • the comprehensive test server 330 collects and processes the V2X communication data and the vehicle data received from the data collector 310 and the wireless packet sniffer 320.
  • the comprehensive test server 330 can generate the test rule through the test rule editing screen of the analysis client 340 and generate the test scenario through the scenario edit screen of the analysis client 340 .
  • the comprehensive test server 330 performs tests on the basis of data from the data collector 310 and the wireless packet sniffer 320 according to the selected test scenarios and analyzes the test results as the test is terminated, And outputs the performance evaluation result information.
  • the comprehensive test server 330 can generate a V2X message corresponding to each test rule according to a test scenario created beforehand.
  • the analysis client 340 provides a UI for creating test rules and test scenarios for the V2X comprehensive test, and performing log management and analysis.
  • a virtual information generator (GPS / CAN signal emulator) 350 can provide the system under test with virtual signals and information needed for testing.
  • a GPS signal and a vehicle CAN signal are transmitted through a virtual information generator 350 for an OBE test in a place where there is no vehicle signal and GPS signal in the room, and the OBE to be tested receives the information, And performs an operation.
  • the V2X application autonomous cooperation road and the connected car test system constructed as described above provide an unexpected situation (work section) information to the autonomous vehicle, and the autonomous vehicle tests the service avoiding the corresponding section can do. For example, first, you can test for information processing (collection / storage / management / provision) functions. Specifically, when the unexpected state information on a virtual road is input to the center LDM 400, the center LDM 400 can confirm whether or not the internal dynamic information is generated in the internal DB based on the input information. When the unexpected state information on the virtual road is input to the center LDM 400, the center LDM 400 can confirm whether or not the corresponding data is deleted from the internal DM after the expiration time of the corresponding information.
  • the center LDM 400 can confirm whether or not the necessary information is transmitted to the RSE 401 of the relevant area based on the information.
  • the center LDM 400 can check the accuracy of the information transmitted to the RSE 401.
  • the time required for providing information to the RSE 401 and outputting a message for providing information to the OBE 402, a plurality of OBE data to the RSE 401, and the RSE 401 The time required to process the information can be measured.
  • the function / performance of the information service providing the unexpected situation (work section). Specifically, when the unexpected situation information is transmitted on the road through the center LDM 400 -> RSE 401, whether or not the vehicle passing through the center recognizes the unexpected situation, the identification information is output to the HMI, And whether or not the self-propelled vehicle has successfully performed the lane change to avoid the construction section.
  • FIG. 18 is a drawing of a test environment in which a V2X applied autonomous cooperation road and a connected vehicle test system according to an embodiment of the present invention are applied to a vehicle system in which a center LDM and a RES are installed and an OBE is installed.
  • the center LDM 400 transmits the road weather information and the unexpected information required for the operation of the general vehicle or the autonomous vehicle to the RSE 401 in the RSA / TIM message.
  • the RSA (Roadside Alert) / TIM (Traveler Information Message) message refers to a message used for road construction and road accident situation transmission through V2X communication.
  • the center LDM 400 may also directly transmit the RSA / TIM message to the vehicle OBE 402 using the mobile communication network.
  • the data collector 310 collects the message transmitted by the center LDM 400 and delivers it to the comprehensive test server 330.
  • the RSE 401 that has received the RSA / TIM message from the center LDM 400 transmits a message to the vehicle moving in the corresponding area using the V2X communication.
  • the data collector 310 collects the message received by the RSE 401 from the center LDM 400 and the message transmitted through the V2X communication, and delivers the collected message to the comprehensive test server 330.
  • the vehicle OBE 402 receives the RSA / TIM message via the center LDM 400 or RSE 401 using V2X communication. Then, the vehicle OBE 402 transmits the road meteorological information and the unexpected information included in the message to the system necessary for the autonomous driving operation or the driver's display system. At this time, the data collector (HV Logger) 310 collects messages transmitted and received by the OBE 402 and the vehicle gateway 403, and transmits the collected messages to the comprehensive test server 330.
  • HV Host Vehicle
  • HV Host Vehicle
  • FIG. 19 is a view showing an indoor experimental environment using a V2X application autonomous cooperation road and a connected car test system according to an embodiment of the present invention.
  • the V2X-based The autonomous collaboration road test system 300 can perform the test in the room utilizing the function of the virtual information generator 350.
  • the comprehensive test server 330 sends an RSA / TIM message to the RSE 401 on behalf of the center LDM 400. Accordingly, the RSE 401 that has received the RSA / TIM message transmits the RSA / TIM message to the vehicle moving in the area using the V2X communication.
  • the virtual information generator 350 generates GPS signal information and CAN signal information required for the operation of the OBE 402 and the vehicle gateway 403, and transmits the GPS signal information and the CAN signal information to the OBE 402 and the vehicle gateway 403.
  • the vehicle OBE 402 receives the RSA / TIM message using the V2X communication. Then, the vehicle OBE 402 transmits the road meteorological information and the unexpected information included in the message to the system necessary for the autonomous driving operation or the driver's display system. At this time, the data collector (HV Logger) 310 collects messages transmitted and received by the OBE 402 and the vehicle gateway 403, and transmits the collected messages to the comprehensive test server 330.
  • HV Logger HV Logger
  • FIG. 20 shows a flow of the RSA / TIM message generated in the center LDM and transmitted to the RSE, the OBE and the vehicle gateway.
  • FIG. 21 shows a flow of the RSA / TIM message transmission / reception from the test object (RSE, OBE, vehicle gateway) 1 is a diagram showing an example of information collected / recorded by a data collector when recording information.
  • the LDM center transmits information generated by the center to the RSEs, the RSEs in each area transmit over the wireless channel, the OBE receives it via the wireless channel, and delivers the information received by the other systems in the vehicle through the in-vehicle network.
  • the data collector and the wireless packet sniffer of the system 300 of the present invention collect information received by the RSE in the center LDM and information transmitted by the RSE in the wireless channel.
  • the system of the present invention installed in the vehicle logs information received by the OBE wirelessly and information transmitted to the vehicle internal network.
  • the data collector (RSE Logger, HV Logger) and the wireless packet sniffer transfer the information collected from the test object to the comprehensive test server.
  • the information to be collected / recorded by the data collector when the RSA / TIM message transmission / reception information is recorded from the test object (RSE, / OBE, vehicle gateway) in the data collector may be as shown in FIG.
  • FIGS. 22 and 23 illustrate examples of a data format to be transmitted to a data collector (RSE Logger, HV Logger) according to an embodiment of the present invention, and are applied to an indoor experimental environment as shown in FIG. 22 and 23 show an example in which the center LDM, the RSE, the OBE, and the processing result of the message transmitted and received by the vehicle gateway using the V2X communication are transmitted to the data collector through the Ethernet communication.
  • RSE Logger RSE Logger, HV Logger
  • FIG. 24 is a view for explaining three modes of the comprehensive test server shown in FIG. 17; FIG.
  • the comprehensive test server 330 has three modes.
  • the first mode is the " emulator performance evaluation " mode.
  • the comprehensive test server 330 generates a test message on behalf of the center LDM 400.
  • the comprehensive test server 330 collects information transmitted and received by the RSE 401, the OBE 402, and the vehicle gateway 403, and generates and transmits test messages according to the defined test scenarios.
  • the performance evaluation provides the analysis function according to the test scenarios defined based on the information collected from each equipment.
  • the second mode is the " performance evaluation using center LDM " mode.
  • This mode collects information that the comprehensive test server 330 generates and transmits by the center LDM 400, the RSE 401 and the OBE 402 and the vehicle gateway 403, Analysis function according to the present invention.
  • the third mode is "analysis mode”. This mode provides the ability to load, analyze, delete and modify collected test data and pre-collected test scenario data.
  • the comprehensive test server 330 can generate a test rule through a test rule editing screen, generate a test scenario through a scenario editing screen, and analyze test results through an analysis screen can do.
  • the comprehensive test server 330 can generate a V2X message corresponding to each test rule according to a test scenario created beforehand.
  • the data collector connected to the RSE can transmit collected information to each RSE transmitting / receiving V2X message collecting and comprehensive testing server.
  • the data collector installed in the testing vehicle collects the OBE of the vehicle, the V2X message of the vehicle gateway, Can be transmitted to the user.
  • the UI function tree of the analysis client 340 can be expressed as shown in FIG.
  • FIG. 25 is a flowchart for explaining a V2X application autonomous cooperation road and a connected car test method according to an embodiment of the present invention
  • FIGS. 26 to 29 are examples of screens employed in the description of FIG. 25.
  • FIG. 25 is a flowchart for explaining a V2X application autonomous cooperation road and a connected car test method according to an embodiment of the present invention
  • FIGS. 26 to 29 are examples of screens employed in the description of FIG. 25.
  • the data collector 310 collects data generated and collected by the RSE 401 and the OBE 402 from the data generated and collected by the center LDM 400 and collects data generated and collected by the vehicle gateway 403 do. Then, the wireless packet sniffer 320 collects packets transmitted on the wireless communication channel transmitted by the RSE 401 and the OBE 402 (S10). More specifically, the data collector 310 collects information from the center LDM 400, the RSE 401, the OBE 402, and the vehicle gateway 403, and provides the collected information to the comprehensive test server 330. The wireless packet sniffer 320 collects packets transmitted through the wireless communication channel transmitted by the RSE 401 and the OBE 402 and provides the collected packets to the comprehensive test server 330. [
  • the comprehensive test server 330 first generates test rules and test scenarios to perform various analyzes and analyze based on the data from the data collector 310 and the wireless packet sniffer 320 (S20 ). At this time, the comprehensive test server 330 uses the initial screen of the analysis client 340 to generate test rules and test scenarios.
  • FIG. 26 illustrates an initial screen of the analysis client 340. The initial screen of the analysis client 340 illustrated in FIG. 26 is a screen showing test rule, test scenario, and test execution status data recorded in the comprehensive test server 330.
  • the initial screen 3001 includes a screen navigation icon 3002, a test rule and test scenario use numeric status area 3003, a log collection status graph 3004 for each test date, a test rule and test scenario status display area 3005, A scenario information display and test control area 3060, and a test rule information display area 3070.
  • the screen direct moving icon 3002 is a moving icon for each screen and makes it possible to move to an initial screen, a test rule editing screen, a test scenario editing screen, a performance evaluation screen, a setting screen and the like.
  • the Test Rule and Test Scenario Usage Numeric Status area 3003 is a screen area that shows the total number of tests performed, the number of defined test scenarios and test rules, and the number of test rules used in the test.
  • the log collecting status graph 3004 is a screen area showing the test statistical information, and the upper test rule frequently used in the x axis is displayed, and the success / failure / total execution frequency is shown for each test rule on the Y axis .
  • the test rule and test scenario status display area 3005 is a screen area for displaying the test (test scenario) and test rule information on the GIS. The test rule and the test scenario status display area 3005 are displayed in the test scenario on the GIS when the table row is clicked on the screen areas 3060 and 3070 The information such as the position and condition of the rule is displayed.
  • the test scenario information display and test control area 3060 represents a screen area including a test scenario creation, deletion, modification screen entry, and emulator use performance evaluation mode and center LDM utilization performance evaluation mode start and analysis mode entry described above.
  • reference numeral 3061 denotes a table showing a list of test scenarios currently generated, and includes a scenario ID (TID), a description of a scenario, a test rule list used in a scenario, a date A start time, an end time, a correction button, and a delete button.
  • TID scenario ID
  • a specific scenario is selected on the list of the test scenario list table 3061, the region where the test using the test scenario is performed and the test rule information are displayed in a map form in the test rule and test scenario status display area 3005 .
  • the analysis mode screen of the selected test scenario is entered.
  • the button 3062 when the button 3062 is clicked, a new test scenario creation screen is entered.
  • the button 3063 is clicked, a screen for uploading the test log to the comprehensive test server is entered.
  • the button 3064 when the button 3064 is clicked, the emulator is switched to the empirical performance evaluation mode to start the test.
  • the button 3065 is clicked, the analysis mode for the test scenario of the item selected in the test scenario list table 3061 Screen.
  • test rule editing screen As illustrated in FIG. 27 is displayed on the analysis client 340.
  • reference numeral 3101 denotes a test rule editing screen.
  • Reference numeral 3102 denotes a screen area for outputting all of the test rule information, and outputs a scenario information image related to the test rule to be performed.
  • Reference numeral 3103 denotes a test rule setting screen area, in which information related to test rule setting can be input, and RID, DESCRIPTION, EVENT POSTION, TRIGGERING RANGE, and MESSAGE information can be set and modified.
  • Reference numeral 3104 denotes an RID screen area for inputting an ID for each test rule (for example, RULE # 1).
  • Reference numeral 3105 denotes a DESCRIPTION screen area, which can input detailed information (for example, EEBL) for the test rule.
  • Reference numeral 3106 denotes an EVENT POSITION screen area, which can input GIS coordinate information for an event occurrence position.
  • Reference numeral 3107 denotes a TRIGGERING RANGE screen area, which can input distance information to generate or recognize an event occurrence message from an event occurrence position.
  • Reference numeral 3108 denotes a screen area for editing and confirming a message. The message selection and editing screen for the test rule test is displayed, and a modification save button can be added if necessary.
  • Reference numeral 3109 denotes a MESSAGE editing screen area, which can modify and edit the message selected in the screen area 3108 (for example, modify and edit time, position, etc.).
  • Reference numeral 3110 denotes a rule information GIS display screen area, which outputs the edited and corrected rule information to the GIS screen. In the screen area 3110, the radius is rounded based on the value input in TRIGGERING from the event position.
  • Reference numeral 3011 denotes a measurement reference information input screen area, which shows information on delay and distance reference of messages from each device.
  • reference numeral 3201 denotes a test scenario editing screen.
  • Reference numeral 3202 denotes a GIS display screen area for the test rule information included in the test scenario and outputs information of the test rule selected as the current test scenario being edited among the applicable test rules to the GIS screen.
  • Reference numeral 3203 denotes a Scenario ID screen area. The set scenario ID is used as a delimiter that can distinguish each scenario.
  • Reference numeral 3204 denotes a DESCRIPTION screen area, which can input detailed information about the corresponding test rule (for example, RoadWorks alarm test on the 3/7 days test site).
  • Reference numeral 3205 denotes a finalized time screen area.
  • the Finize button 3206 When the Finize button 3206 is activated, no data is collected by the scenario ID after the point of time of activation. Activate when no further tests are performed with the selected scenario ID.
  • Reference numeral 3207 denotes an area indicating a list of test rules applied for the current test execution.
  • Reference numeral 3208 denotes a screen area for displaying a list of test rules which can be selected when the test of the current test scenario is performed. When selected from the list, the selected test rule is displayed in the selected test rule display area 3207.
  • Reference numeral 3209 denotes a button for terminating the current test scenario editing window.
  • Reference numeral 3210 denotes a button for updating the currently edited test scenario.
  • the comprehensive test server 330 performs the test according to the selected test scenario (S30).
  • the comprehensive test server 330 analyzes the test results and outputs the performance evaluation result information for the test target (S40). At this time, the outputted performance evaluation result information may be outputted in the form of a screen as illustrated in FIG.
  • the performance evaluation screen of FIG. 29 can be displayed through the analysis client 340.
  • reference numeral 3301 denotes a performance evaluation screen, which is a screen for displaying and monitoring test information for each test rule.
  • Reference numeral 3302 denotes a GIS screen area for outputting respective pieces of equipment and test vehicle location information, and outputting event location and TRIGGER range information.
  • Reference numeral 3303 denotes a test rule description screen area, which outputs an explanation image for the currently executed test rule test.
  • Reference numeral 3304 denotes an evaluation index and a measurement information output screen area for the test rule, and outputs delay information for each equipment, evaluation index for distance information from the vehicle, and measurement information.
  • Reference numeral 3305 denotes a test scenario information output screen area to be executed, which outputs information on the test and can change the test rules and change the interval (time) in conjunction with the screen area 3306.
  • Reference numeral 3306 denotes a screen area for outputting rule information in progress in the currently executed test scenario, and sequentially displays the rules of the currently executed test, automatically recognizes and lists up, or outputs information that has been previously performed .
  • Reference numeral 3307 denotes a screen area for confirming a message used in the currently performed test.
  • Reference numeral 3308 denotes a screen area of the test reproduce function, which has a reproducing function in the case of the test being performed.
  • Reference numeral 3309 denotes a screen area for outputting timing information of a message transmitted and received in each monitoring target equipment in the test.
  • the horizontal axis represents the flow of time, and the messages sent and received by each DUT along the center LDM, RSE, and OBE lines are displayed according to the corresponding time.
  • Reference numerals 3310 to 3313 are graphs showing RSSI information for RF communication equipment, PER information for RF communication equipment, Rx / Tx delay for each equipment, speed of a test vehicle, longitudinal / lateral sense / acceleration and the like.
  • Reference numeral 3314 denotes a time when the corresponding message is transmitted and received from the center LDM to the RSE, the OBE, and the vehicle gateway when a specific message is double-clicked on the message timing information screen 3309.

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  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système et un procédé pour tester une chaussée automatisée coopérative à application V2X et une voiture connectée, le procédé pouvant, afin de tester un système de chaussée automatisée coopérative et des véhicules de voiture connectés roulant sur des chaussées correspondantes, concevoir un scénario de test, puis générer des données virtuelles en conséquence ; collecter des données d'entrée/de sortie/internes pour chaque système constituant le système de chaussée automatisée coopérative ; et effectuer une analyse et une évaluation des fonctions et des performances du système de chaussée automatisée coopérative et des véhicules de test. Le système selon l'invention comprend : un dispositif de collecte d'informations pour collecter des données à partir d'objets de test ; un client d'analyse pour fournir une interface utilisateur (UI) pour générer des règles de test et des scénarios de test ; et un serveur de test complet pour générer des règles et des scénarios de test sélectionnés par l'intermédiaire de l'UI du client d'analyse, effectuer un test complet V2X au moyen des données provenant du dispositif de collecte d'informations selon les scénarios de test contenant les règles de test générées, et analyser des résultats de test.
PCT/KR2018/015753 2017-12-15 2018-12-12 Système et procédé pour tester une route à chaussée à conduite automatisée coopérative à application v2x et voiture connectée WO2019117614A1 (fr)

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KR1020180159629A KR102145723B1 (ko) 2017-12-15 2018-12-12 Ｖ2ｘ 적용 자율협력도로와 커넥티드카 시험 시스템 및 방법

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CN112906209A (zh) * 2021-02-03 2021-06-04 交通运输部公路科学研究所 一种面向封闭场地的车路协同测试场景可信度评估方法
CN113497741A (zh) * 2020-03-19 2021-10-12 广州汽车集团股份有限公司 一种基于仿真模型的v2x硬件在环测试台架系统及方法
CN113848855A (zh) * 2021-09-27 2021-12-28 襄阳达安汽车检测中心有限公司 车辆控制系统测试方法、装置、设备、介质及程序产品
CN114394090A (zh) * 2021-12-24 2022-04-26 英博超算(南京)科技有限公司 一种车路协同虚拟前障碍物感应系统
CN114866449A (zh) * 2022-04-29 2022-08-05 重庆长安汽车股份有限公司 一种整车无线通信试验系统及其试验方法
CN116566861A (zh) * 2023-06-27 2023-08-08 襄阳达安汽车检测中心有限公司 数据一致性测试方法、装置、设备及可读存储介质
CN117255325A (zh) * 2023-11-15 2023-12-19 湖南大学 一种智能网联v2x场景验证系统和方法

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CN111586638B (zh) * 2020-04-30 2022-08-23 招商局检测车辆技术研究院有限公司 基于v2x节点类型的室内测评方法、设备和存储介质
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