WO2022083406A1 - 超声波雷达控车策略的测试方法、装置、系统和存储介质 - Google Patents

超声波雷达控车策略的测试方法、装置、系统和存储介质 Download PDF

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Publication number
WO2022083406A1
WO2022083406A1 PCT/CN2021/120307 CN2021120307W WO2022083406A1 WO 2022083406 A1 WO2022083406 A1 WO 2022083406A1 CN 2021120307 W CN2021120307 W CN 2021120307W WO 2022083406 A1 WO2022083406 A1 WO 2022083406A1
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Prior art keywords
vehicle
information
tested
control
detection information
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PCT/CN2021/120307
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English (en)
French (fr)
Inventor
杨勇
董道文
赵丽娜
徐楠
赵庆波
蒲恒
周俊杰
Original Assignee
奇瑞汽车股份有限公司
雄狮汽车科技(南京)有限公司
芜湖雄狮汽车科技有限公司
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Publication of WO2022083406A1 publication Critical patent/WO2022083406A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/22—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing
    • G06F11/26—Functional testing

Definitions

  • the present disclosure relates to the technical field of vehicles, and in particular to a method, device and system for testing a vehicle control strategy of an ultrasonic radar, and a computer-readable storage medium.
  • the ultrasonic radar vehicle control strategy refers to a series of rules to control the vehicle based on the detection information of the ultrasonic radar, which is mainly used to realize the automatic control of the vehicle.
  • the testing method of the ultrasonic radar vehicle control strategy is as follows: establish an ultrasonic radar model, which is used to simulate a real ultrasonic radar to generate a virtual detection signal; The results analyze the vehicle control strategy to complete the test.
  • the present disclosure provides a method, device, system and storage medium for testing an ultrasonic radar vehicle control strategy.
  • An embodiment of the present disclosure proposes a method for testing an ultrasonic radar vehicle control strategy.
  • the method includes: acquiring detection information of an ultrasonic radar, the ultrasonic radar being set on a vehicle to be tested; based on a vehicle model of the vehicle to be tested and The environment model of the environment where the vehicle to be tested is located, and the complete vehicle information of the vehicle to be tested is obtained, wherein the vehicle model is constructed according to the actual vehicle condition of the vehicle to be tested;
  • the vehicle information controls the action of the vehicle model according to the vehicle control strategy to obtain a vehicle control result, and the vehicle control result is used to analyze the vehicle control strategy.
  • the ultrasonic radar is pasted on the vehicle to be tested through an adhesive bracket.
  • the controlling the action of the vehicle model according to the vehicle control strategy according to the detection information and the complete vehicle information to obtain a vehicle control result includes: performing an operation on the vehicle model according to the detection information and the complete vehicle information.
  • the function of the electronic control unit ECU of the vehicle to be tested is tested to generate control decision information; the vehicle model is controlled to act according to the control decision information to obtain the vehicle control result.
  • the function of the electronic control unit ECU of the vehicle to be tested is tested according to the detection information and the entire vehicle information, so as to generate control decision information, including: combining the entire vehicle information and all vehicle information.
  • the detection information is input to a virtual ECU controller corresponding to the electronic control unit ECU of the vehicle to be tested, so that the virtual ECU controller generates the control decision information.
  • the function of the electronic control unit ECU of the vehicle to be tested is tested according to the vehicle information and the detection information to generate control decision information, including: combining the vehicle information with the detection information.
  • the detection information is sent to the ECU controller of the vehicle to be tested, so that the ECU controller generates the control decision information.
  • the sending of the vehicle information and the detection information to the ECU controller of the vehicle to be tested includes:
  • the lower computer is used to obtain the detection information of the ultrasonic radar, synchronize the detection information with the vehicle information, and synchronize the synchronized vehicle information. and the detection information is sent to the ECU controller.
  • the lower computer sends the synchronized detection information and the vehicle information to the ECU controller through a CAN card.
  • An embodiment of the present disclosure also proposes a testing device for an ultrasonic radar vehicle control strategy.
  • the device includes: a first acquisition module configured to acquire detection information of an ultrasonic radar, the ultrasonic radar being set on the vehicle to be tested; a second acquisition module The module is used to obtain the whole vehicle information of the vehicle to be tested based on the vehicle model of the vehicle to be tested and the environment model of the environment where the vehicle to be tested is located, wherein the vehicle model is based on the vehicle model of the vehicle to be tested.
  • the actual vehicle condition is constructed; the control module is used to control the action of the vehicle model according to the vehicle control strategy according to the detection information and the vehicle information, so as to obtain the vehicle control result, and the vehicle control result is used to analyze the vehicle control Strategy.
  • the ultrasonic radar is pasted on the vehicle to be tested through an adhesive bracket.
  • control module is used to test the functions in the electronic control unit ECU of the vehicle to be tested according to the detection information and the vehicle information, so as to generate control decision information; according to the control decision The information controls the action of the vehicle model to obtain the vehicle control result.
  • control module is configured to input the vehicle information and the detection information to a virtual ECU controller corresponding to the electronic control unit ECU of the vehicle under test, so that the virtual ECU controls The controller generates the control decision information.
  • control module is configured to send the vehicle information and the detection information to the ECU controller of the vehicle under test, so that the ECU controller generates the control decision information.
  • control module is configured to synchronize the detection information and the vehicle information through a lower computer, and send the synchronized vehicle information and detection information to the ECU controller .
  • the lower computer sends the synchronized detection information and the vehicle information to the ECU controller through a CAN card.
  • Embodiments of the present disclosure also provide a device for testing an ultrasonic radar vehicle control strategy, the device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to A test method for realizing the above-mentioned ultrasonic radar vehicle control strategy.
  • An embodiment of the present disclosure proposes a testing system for an ultrasonic radar vehicle control strategy, including an ultrasonic radar and testing equipment.
  • the ultrasonic radar is set on the vehicle to be tested; the test equipment is used to obtain the detection information of the ultrasonic radar; based on the vehicle model of the vehicle to be tested and the environment model of the environment where the vehicle to be tested is located, the vehicle information of the vehicle to be tested, wherein the vehicle model is constructed according to the actual vehicle conditions of the vehicle to be tested; the vehicle model is controlled to act according to the vehicle control strategy according to the detection information and the vehicle information, so as to obtain control
  • the vehicle control result is used to analyze the vehicle control strategy.
  • the test equipment includes an upper computer and a lower computer, and the upper computer and the lower computer are connected in communication, wherein the lower computer is used to obtain the detection information and send the detection information to the lower computer.
  • the host computer the host computer is used to obtain the vehicle information of the vehicle to be tested based on the vehicle model of the vehicle to be tested and the environment model of the environment where the vehicle to be tested is located, and based on the detection information and the The whole vehicle information controls the action of the vehicle model to obtain a vehicle control result.
  • the host computer is provided with a virtual ECU controller corresponding to the electronic control unit ECU of the vehicle to be tested, and the host computer is configured to input the vehicle information and the detection information to the vehicle under test.
  • the virtual ECU controller so that the virtual ECU controller generates the control decision information; and controls the action of the vehicle model according to the control decision information.
  • the upper computer is further configured to send the complete vehicle information to the lower computer
  • the lower computer is used to acquire the detection information and receive the vehicle information sent by the upper computer , synchronize the detection information and the complete vehicle information, and send the synchronized detection information and the complete vehicle information to the ECU controller of the vehicle to be tested, so that the ECU controller can
  • the control decision information is generated from the complete vehicle information and the detection information
  • the lower computer is further configured to send the control decision information to the upper computer, so as to control the action of the vehicle model according to the control decision information.
  • Embodiments of the present disclosure also provide a method for testing an ultrasonic radar vehicle control strategy, including the following steps: acquiring detection information of an ultrasonic radar set on a vehicle to be tested; building a vehicle model and an environment model of the vehicle to be tested, wherein , the vehicle model is built according to the actual vehicle condition of the vehicle to be tested; based on the vehicle model, obtain the vehicle information of the vehicle to be tested when it is in the environment model, and based on the vehicle information and the vehicle information
  • the detection information of the ultrasonic radar tests the ECU function of the vehicle to be tested to generate control decision information; the control decision information is sent to the vehicle model for execution, so as to analyze the ECU function according to the execution result.
  • the vehicle model and the environment model are constructed according to simulation software in the host computer respectively.
  • the upper computer virtualizes the ECU of the vehicle to be tested through a control algorithm
  • the vehicle information obtained based on the vehicle model and the detection information of the ultrasonic radar uploaded by the lower computer are input into the virtual ECU, So that the virtual ECU generates the control decision information, and directly sends the control decision information to the vehicle model for execution.
  • the upper computer when the virtual ECU of the vehicle to be tested is replaced by the ECU controller of the vehicle to be tested, the upper computer sends the vehicle information obtained based on the vehicle model to the lower computer, wherein the ECU The controller obtains the detection information of the ultrasonic radar through the lower computer, receives the whole vehicle information sent by the upper computer through the lower computer, and generates the detection information according to the whole vehicle information and the ultrasonic radar detection information through the lower computer.
  • the control decision information is sent to the vehicle model through the lower computer for execution.
  • the lower computer includes a real-time information integration unit, and the real-time information integration unit obtains the detection information of the ultrasonic radar through a CAN card, and receives all the information through the network connection between the lower computer and the upper computer. Vehicle information sent by the host computer, so as to synchronize the detection information of the ultrasonic radar with the vehicle information sent by the host computer.
  • the real-time information integration unit sends the synchronized detection information of the ultrasonic radar and the vehicle information sent by the host computer to the ECU controller through a CAN card.
  • An embodiment of the present disclosure proposes a test system for an ultrasonic radar vehicle control strategy, including an upper computer and a lower computer, the upper computer and the lower computer perform network communication, wherein the lower computer is used to obtain information set in detection information of the ultrasonic radar on the vehicle to be tested, and send the detection information of the ultrasonic radar to the host computer; the host computer is used to build the vehicle model and the environment model of the vehicle to be tested, wherein the The vehicle model is built according to the actual vehicle condition of the vehicle to be tested; the host computer is further configured to, based on the vehicle model, acquire the vehicle information of the vehicle to be tested when the vehicle is in the environment model, and based on the vehicle model The vehicle information and the detection information of the ultrasonic radar test the ECU function of the vehicle to be tested to generate control decision information, and send the control decision information to the vehicle model for execution, so as to determine the ECU functions are analyzed.
  • the host computer builds the vehicle model and the environment model according to simulation software, and when virtualizing the ECU of the vehicle to be tested through a control algorithm, uploads the vehicle information obtained based on the vehicle model and the lower computer.
  • the detection information of the ultrasonic radar is input to the virtual ECU, so that the virtual ECU generates the control decision information.
  • the upper computer also sends the vehicle information obtained based on the vehicle model to the lower computer
  • the lower computer includes a real-time information integration unit, and the real-time information integration unit obtains the ultrasonic wave through a CAN card.
  • the detection information of the radar, and through the network communication between the lower computer and the upper computer, the whole vehicle information issued by the upper computer, as well as the detection information of the ultrasonic radar and the information issued by the upper computer are received.
  • the vehicle information is synchronized, and the synchronized detection information of the ultrasonic radar and the vehicle information issued by the host computer are sent to the ECU controller of the vehicle to be tested through the CAN card, so that the ECU controller can
  • the control decision information is generated according to the vehicle information and the detection information of the ultrasonic radar, and the control decision information is sent to the vehicle model through the lower computer for execution.
  • the embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned method for testing the ultrasonic radar vehicle control strategy is implemented.
  • An embodiment of the present disclosure also proposes a computer program product, including a computer program/instruction, when the computer program/instruction is executed by a processor, the method for testing the above-mentioned ultrasonic radar vehicle control strategy is implemented.
  • FIG. 1 is a flowchart of a method for testing an ultrasonic radar vehicle control strategy provided according to an embodiment of the present disclosure
  • FIG. 2 is a flowchart of another method for testing an ultrasonic radar vehicle control strategy provided according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of an overall architecture for testing an ultrasonic radar vehicle control strategy provided according to an embodiment of the present disclosure
  • FIG. 4 is a schematic structural diagram of a testing device for an ultrasonic radar vehicle control strategy provided according to an embodiment of the present disclosure
  • FIG. 5 is a schematic structural diagram of a testing device for an ultrasonic radar vehicle control strategy provided according to an embodiment of the present disclosure
  • FIG. 6 is a structural block diagram of a testing system for an ultrasonic radar vehicle control strategy provided according to an embodiment of the present disclosure.
  • the vehicle After switching to the real ultrasonic radar, it will be affected by noise, and the detection information of the real ultrasonic radar is not completely consistent with the virtual detection signal generated by the ultrasonic radar model. As a result, the vehicle cannot process the real ultrasonic radar information correctly, causing a lot of problems.
  • FIG. 1 is a flowchart of a method for testing an ultrasonic radar vehicle control strategy according to an embodiment of the present disclosure. Referring to Figure 1, the test method includes the following steps:
  • the detection information of the ultrasonic radar is acquired, and the ultrasonic radar is set on the vehicle to be tested.
  • vehicle information of the vehicle to be tested is acquired based on the vehicle model of the vehicle to be tested and the environment model of the environment where the vehicle to be tested is located.
  • the vehicle model is built according to the actual condition of the vehicle to be tested.
  • the environment model is the environment that maps the real scene, and the road and vehicle driving domain in the environment model need to be consistent with the real scene.
  • the action of the vehicle model is controlled according to the vehicle control strategy according to the detection information and the vehicle information, so as to obtain a vehicle control result.
  • the vehicle control result is used to analyze the vehicle control strategy.
  • the ultrasonic radar set on the vehicle to be tested is used to obtain detection information, and the vehicle control strategy is tested according to the detection information, which solves the problem of difficulty in adding noise and reduces the impact of unpredictable factors on real vehicles. The impact of car control.
  • the ultrasonic radar vehicle control strategy is tested, which reduces the research and development cost and shortens the research and development cycle.
  • FIG. 2 is a flowchart of another method for testing an ultrasonic radar vehicle control strategy according to an embodiment of the present disclosure.
  • the test method can be performed by a test equipment.
  • the test method includes the following steps:
  • the detection information of the ultrasonic radar is acquired, and the ultrasonic radar is set on the vehicle to be tested.
  • real ultrasonic radar is used to detect the vehicle information to be tested.
  • the ultrasonic radar can be directly pasted on the unmodified vehicle to be tested through the adhesive bracket. This setting method is simple to implement and has low cost.
  • the ultrasonic radar can be tested and calibrated.
  • the information of the vehicle to be tested that is, the information of obstacles around the vehicle to be tested
  • CAN Controller Area Network, controller area network
  • output interface ie CAN interface
  • external refers to sending detection information to devices other than the ultrasonic radar.
  • the type of the vehicle to be tested is not limited in the embodiments of the present disclosure, as long as it can carry an ultrasonic radar.
  • a vehicle model and an environment model of the vehicle to be tested are built, wherein the vehicle model is built according to the actual condition of the vehicle to be tested.
  • the vehicle model and the environment model can be constructed by using simulation software in the host computer respectively.
  • an ideal vehicle dynamics model can be built according to the vehicle to be tested through simulation software as a control actuator, and an environment model can be built through simulation software.
  • the environment model is used to map the environment of the real scene (that is, used to map the environment where the vehicle to be tested is located), and the road and vehicle driving domain in the environment model need to be consistent with the real scene.
  • the environment model includes a lane, a central axis of the lane and a parking area, wherein the parking area can extend a certain distance (eg 10m) to each side of the lane by taking the central axis of the lane as a position reference line.
  • S202 is an optional step, the vehicle model and the environment model can be built in advance, and can be called directly when needed.
  • the entire vehicle information includes, but is not limited to, the driving state information and location information of the vehicle.
  • the driving state information includes, but is not limited to, vehicle speed, steering angle, steering speed, accelerator position and gear position, etc.
  • the position information may be position information relative to a reference object in the environment model, such as position relative to the parking space and yaw angle etc.
  • the whole vehicle information is used to control the overall state of the vehicle to park in the parking position; to obtain the current steering, braking, accelerator, and gear position, as the execution object, the vehicle obtains the corresponding speed, steering, steering angle and other target values.
  • the vehicle information of the vehicle to be tested can be obtained based on the vehicle model of the vehicle to be tested and the environment model of the environment where the vehicle to be tested is located.
  • the function of the ECU (Electronic Control Unit, electronic control unit) of the vehicle to be tested is tested according to the vehicle information and the detection information of the ultrasonic radar to generate control decision information.
  • the functions of the ECU include but are not limited to functions such as APA (Auto Parking Assist, automatic parking), BSD (Blind Spot Detection, blind spot detection), FCW (Forward Collision Warning) and other functions.
  • the function of the ECU is the vehicle control strategy.
  • Control decision information includes, but is not limited to, target values such as speed, steering direction, and steering angle.
  • the upper computer can obtain the vehicle information when the vehicle to be tested is in the environment model based on the vehicle model, and obtain the detection information of the ultrasonic radar from the lower computer, and then the ECU of the vehicle to be tested can be obtained according to the vehicle information and the detection information of the ultrasonic radar. Functions are tested to generate control decision information.
  • the ECU controller can also test the ECU function of the vehicle to be tested according to the vehicle information obtained from the lower computer and the detection information of the ultrasonic radar to generate control decision information.
  • control decision information is sent to the vehicle model for execution, so as to analyze the ECU function according to the execution result.
  • the action of the vehicle model can be controlled according to the control decision information, and the execution result of the vehicle model is the vehicle control result.
  • the vehicle control result includes steering speed, steering angle, driving speed, driving distance, final parking position, vehicle yaw angle, and the like.
  • control decision information can be sent to the vehicle model in the environment model for execution, so as to analyze the completion and effectiveness of the ECU control algorithm and the function implementation of the ECU controller according to the execution result of the vehicle model.
  • the test method of the embodiment of the present disclosure is exemplarily described below by taking the APA function as an example.
  • the execution process of APA usually includes the process of finding a parking space, the process of parking in place, the process of forward distance and posture control.
  • the vehicle information and ultrasonic radar detection information are obtained and input to the ECU controller or virtual ECU; the ECU controller or virtual ECU generates control decision information; the vehicle model in the control environment model is controlled according to the control decision information for parking.
  • the car is finally parked in the parking space in the environment model (for the acceleration test, no parking is performed in the real scene, that is, the waiting vehicle does not move); according to the final vehicle model pose (whether the yaw angle is in the same direction as the parking space, front and rear Whether the distance meets the requirements), and the changes in vehicle information during the parking process, measure whether the functional algorithm meets the functional requirements, that is, whether the vehicle control strategy meets the requirements.
  • measuring the completion and effectiveness of the vehicle control strategy includes whether the entire parking process is completed smoothly, whether frequent gear switching or steering occurs, whether the distance between the front and rear of the final parking meets the index requirements, and whether the posture and direction follow The parking spaces are in the same direction. If these conditions are met, the APA function is qualified.
  • S203 when the host computer virtualizes the ECU of the vehicle to be tested through the control algorithm, that is, when the virtual ECU corresponding to the ECU of the vehicle to be tested is set in the host computer, S203 includes: The vehicle information and the detection information of the ultrasonic radar uploaded by the lower computer are input to the virtual ECU controller, so that the virtual ECU controller can generate control decision information, and send the control decision information directly to the vehicle model for execution to control the action of the vehicle model.
  • the host computer includes a vehicle model, an environment model, and a host computer ECU algorithm that virtualizes the ECU of the vehicle to be tested through a control algorithm, also known as a virtual ECU controller.
  • the upper computer can obtain the vehicle information based on the vehicle model, and can receive the detection information of the ultrasonic radar uploaded by the lower computer, and then input the acquired vehicle information and ultrasonic radar detection information to the virtual ECU controller in the upper computer In order to generate control decision information, and send the control decision information to the executive agency, that is, the vehicle model for execution.
  • the upper computer when the virtual ECU controller is replaced by the ECU controller of the vehicle to be tested, the upper computer sends the vehicle information obtained based on the vehicle model to the lower computer, wherein the ECU controller passes the lower computer Obtain the detection information of the ultrasonic radar, and receive the vehicle information sent by the upper computer through the lower computer, and generate control decision information according to the vehicle information and the detection information of the ultrasonic radar, and send the control decision information to the vehicle model through the lower computer for execution.
  • the lower computer includes a real-time information integration unit, and the real-time information integration unit obtains the detection information of the ultrasonic radar through the CAN card, and receives the vehicle information issued by the upper computer through the network connection between the lower computer and the upper computer, In order to synchronize the detection information of the ultrasonic radar with the vehicle information sent by the host computer.
  • the real-time information integration unit can send the synchronized detection information of the ultrasonic radar and the vehicle information sent by the host computer to the ECU for control through the CAN card device.
  • the ECU controller generates control decision information according to the vehicle information and the detection information of the ultrasonic radar, and sends the control decision information to the vehicle model for execution through the lower computer.
  • the ECU function of the vehicle to be tested is tested by the vehicle information obtained according to the vehicle model and the detection information obtained by the ultrasonic radar to generate control decision information, and the control decision The information is sent to the vehicle model for execution, so that the method of analyzing the ECU function according to the execution result can effectively reduce the research and development cost, shorten the research and development cycle, reduce the influence of unpredictable factors of the real vehicle on the vehicle control algorithm or ECU, and solve the real ultrasonic radar noise. Added question.
  • FIG. 4 is a structural block diagram of an apparatus for testing an ultrasonic radar vehicle control strategy according to an embodiment of the present disclosure. As shown in FIG. 4 , the apparatus 400 includes a first obtaining module 401 , a second obtaining module 402 and a control module 403 .
  • the first acquisition module 401 is used to acquire detection information of an ultrasonic radar, and the ultrasonic radar is set on the vehicle to be tested.
  • the second obtaining module 402 is configured to obtain vehicle information of the vehicle to be tested based on the vehicle model of the vehicle to be tested and the environment model of the environment where the vehicle to be tested is located; wherein the vehicle model is based on the vehicle model to be tested. Test the actual condition of the vehicle to build.
  • the control module 403 is used to control the action of the vehicle model according to the vehicle control strategy according to the detection information and the vehicle information, so as to obtain the vehicle control result; the analysis module is used to analyze the vehicle control strategy according to the vehicle control result .
  • the ultrasonic radar is pasted on the vehicle to be tested through an adhesive bracket.
  • control module 403 is configured to test the functions in the electronic control unit ECU of the vehicle to be tested according to the detection information and the vehicle information to generate control decision information; adopt the control decision The information controls the action of the vehicle model to obtain the vehicle control result.
  • control module 403 is configured to input the vehicle information and the detection information to a virtual ECU controller corresponding to the electronic control unit ECU of the vehicle under test, so that the virtual ECU controls The controller generates the control decision information.
  • control module 403 is configured to send the vehicle information and the detection information to the ECU controller of the vehicle under test, so that the ECU controller generates the control decision information.
  • control module 403 is configured to synchronize the detection information and the vehicle information through a lower computer, and send the synchronized vehicle information and detection information to the ECU controller. .
  • the lower computer sends the synchronized detection information and the vehicle information to the ECU controller through a CAN card.
  • test device when the test device provided in the above embodiment tests the vehicle control strategy, only the division of the above functional modules is used as an example for illustration. In practical applications, the above functions can be allocated to different functional modules as required. To complete, that is, to divide the internal structure of the device into different functional modules to complete all or part of the functions described above.
  • testing device and the testing method provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.
  • Embodiments of the present disclosure also provide a device for testing an ultrasonic radar vehicle control strategy, the device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to A test method for realizing the above-mentioned ultrasonic radar vehicle control strategy.
  • FIG. 5 is a structural block diagram of an apparatus for testing an ultrasonic radar vehicle control strategy provided by an embodiment of the present disclosure.
  • the test device is computer equipment.
  • the computer device 500 may be an in-vehicle computer or the like.
  • the computer device 500 includes: a processor 501 and a memory 502 .
  • the processor 501 may include one or more processing cores, such as a 7-core processor, an 8-core processor, and the like.
  • the processor 501 can use at least one hardware form among DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), and PLA (Programmable Logic Array, programmable logic array).
  • the processor 501 may also include a main processor and a coprocessor.
  • the main processor is a processor used to process data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); the coprocessor is A low-power processor for processing data in a standby state.
  • the processor 501 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
  • the processor 501 may further include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 502 may include one or more computer-readable media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable medium in the memory 502 is used to store at least one instruction for execution by the processor 501 to implement the hybrid electric vehicle provided in the embodiments of the present disclosure. Power supply control method.
  • FIG. 5 does not constitute a limitation to the computer device 500, and may include more or less components than the one shown, or combine some components, or adopt different component arrangements.
  • the present disclosure also proposes a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the above-mentioned testing method for an ultrasonic radar vehicle control strategy.
  • the present disclosure also proposes a computer program product, including computer programs/instructions, when the computer programs/instructions are executed by a processor, the testing method for the above-mentioned ultrasonic radar vehicle control strategy is implemented.
  • FIG. 6 is a structural block diagram of a testing system for an ultrasonic radar vehicle control strategy provided according to an embodiment of the present disclosure.
  • the testing system 100 of the ultrasonic radar vehicle control strategy includes an ultrasonic radar 61 and a testing device 62 .
  • the ultrasonic radar 61 is installed on the vehicle to be tested.
  • the test equipment 62 is used to implement the test method shown in FIG. 1 or FIG. 2 .
  • the testing equipment 62 includes an upper computer 621 and a lower computer 622 .
  • the upper computer 621 and the lower computer 622 communicate through a network, that is, a communication connection, and the lower computer 622 communicates with the ultrasonic radar 61 through a CAN card.
  • the lower computer 622 is used to acquire the detection information of the ultrasonic radar 61 and send the detection information of the ultrasonic radar 61 to the upper computer 621 .
  • the host computer 621 is used to build a vehicle model and an environment model of the vehicle to be tested, wherein the vehicle model is built according to the actual condition of the vehicle to be tested.
  • the host computer 621 is also used to, based on the vehicle model, obtain the vehicle information when the vehicle to be tested is in the environment corresponding to the environment model, and to test the ECU function of the vehicle to be tested according to the vehicle information and the detection information of the ultrasonic radar 623 to generate control Decision information, and send the control decision information to the vehicle model for execution, so as to analyze the ECU function according to the execution result.
  • the host computer 621 when the host computer 621 builds the vehicle model and the environment model according to the simulation software, and virtualizes the ECU of the vehicle to be tested through the control algorithm, it can obtain the vehicle information and lower-level information of the vehicle to be tested when the vehicle is in the environment model based on the vehicle model.
  • the detection information of the ultrasonic radar 61 uploaded by the machine is input to the virtual ECU controller, so that the virtual ECU controller can generate control decision information.
  • the lower computer 102 and the ECU controller 63 are communicatively connected, such as through a CAN card.
  • the upper computer 621 also sends the vehicle information obtained based on the vehicle model to the lower computer 622, and the lower computer 622 includes a real-time information integration unit.
  • the real-time information integration unit obtains the detection information of the ultrasonic radar 61 through the CAN card, and receives the vehicle information issued by the upper computer 621 through the network communication between the lower computer 622 and the upper computer 621, as well as the detection information of the ultrasonic radar 61 and the upper computer.
  • the whole vehicle information sent by the computer 621 is synchronized, and the synchronized detection information of the ultrasonic radar 623 and the whole vehicle information sent by the upper computer 621 are sent to the ECU controller 63 of the vehicle to be tested through the CAN card, so that the ECU controller can 63 Generate control decision information according to the vehicle information and the detection information of the ultrasonic radar 61, and send the control decision information to the vehicle model through the lower computer 622 for execution, that is, send it to the upper computer 621, so that the upper computer 621 controls according to the control decision information.
  • the vehicle model acts in the environment model.
  • the ECU function of the vehicle to be tested is tested by the vehicle information obtained according to the vehicle model and the detection information obtained by the ultrasonic radar to generate control decision information, and the control decision The information is sent to the vehicle model for execution, so that the method of analyzing the ECU function according to the execution result can effectively reduce the research and development cost, shorten the research and development cycle, reduce the impact of unpredictable factors of the real vehicle on the vehicle control algorithm or ECU, and solve the problem that noise is difficult to add .
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transport the program for use by or in conjunction with an instruction execution system, apparatus, or apparatus.
  • computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM).
  • the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.
  • portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
  • various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

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Abstract

本公开提供了一种超声波雷达控车策略的测试方法、装置、系统和存储介质，该方法包括：获取超声波雷达的检测信息，该超声波雷达设置在待测车辆上(S101)；基于待测车辆的车辆模型和待测车辆所处环境的环境模型，获取待测车辆的整车信息，其中，车辆模型根据待测车辆的实际车况进行搭建(S102)；根据检测信息和整车信息按照控车策略控制车辆模型动作，以得到控车结果，控车结果用于分析所述控车策略(S103)。该方法降低了研发成本，缩短了研发周期，降低了真实车辆不可预知因素对控车的影响，且解决了噪点难以添加的问题。

Description

超声波雷达控车策略的测试方法、装置、系统和存储介质
本申请要求于2020年10月22日提交的申请号为202011138636.4、发明名称为“超声波雷达控车策略的测试方法、系统和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及车辆技术领域，具体涉及一种超声波雷达控车策略的测试方法、装置和系统以及一种计算机可读存储介质。
背景技术
超声波雷达控车策略是指基于超声波雷达的检测信息对车辆进行控制的一系列规则，主要用于实现对车辆的自动控制。
目前，超声波雷达控车策略的测试方式如下：建立超声波雷达模型，该超声波雷达模型用于模拟真实超声波雷达，产生虚拟检测信号；根据虚拟检测信号控制车辆动作，得到控车结果，以根据控车结果分析控车策略，从而完成测试。
发明内容
本公开提出了一种超声波雷达控车策略的测试方法、装置、系统和存储介质。
本公开实施例提出了一种超声波雷达控车策略的测试方法，所述方法包括：获取超声波雷达的检测信息，所述超声波雷达设置在待测车辆上；基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息，其中，所述车辆模型根据所述待测车辆的实际车况进行搭建；根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果，所述控车结果用于分析所述控车策略。
可选地，所述超声波雷达通过粘合支架粘贴在所述待测车辆上。
可选地，所述根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果，包括：根据所述检测信息和所述整车信息对所述待测车辆的电子控制单元ECU的功能进行测试，以生成控制决策信息；根据所述控制决策信息控制所述车辆模型动作，以得到所述控车结果。
在一些示例中，所述根据所述检测信息和所述整车信息对所述待测车辆的电子控制单元ECU的功能进行测试，以生成控制决策信息，包括：将所述整车信息和所述检测信息输入到 所述待测车辆的电子控制单元ECU对应的虚拟的ECU控制器，以便所述虚拟的ECU控制器生成所述控制决策信息。
在另一些示例中，所述根据所述整车信息和所述检测信息对所述待测车辆的电子控制单元ECU的功能进行测试，以生成控制决策信息，包括：将所述整车信息和所述检测信息发送给所述待测车辆的ECU控制器，以便所述ECU控制器生成所述控制决策信息。
可选地，所述将所述整车信息和所述检测信息发送给所述待测车辆的ECU控制器，包括：
将所述整车信息发送给下位机，所述下位机用于获取所述超声波雷达的检测信息，对所述检测信息和所述整车信息进行同步，以及将同步后的所述整车信息和所述检测信息发送给所述ECU控制器。
可选地，所述下位机通过CAN卡将同步后的所述检测信息和所述整车信息发送给所述ECU控制器。
本公开实施例还提出了一种超声波雷达控车策略的测试装置，该装置包括：第一获取模块，用于获取超声波雷达的检测信息，所述超声波雷达设置在待测车辆上；第二获取模块，用于基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息，其中，所述车辆模型根据所述待测车辆的实际车况进行搭建；控制模块，用于根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果，所述控车结果用于分析所述控车策略。
可选地，所述超声波雷达通过粘合支架粘贴在所述待测车辆上。
可选地，所述控制模块，用于根据所述检测信息和所述整车信息对所述待测车辆的电子控制单元ECU中的功能进行测试，以生成控制决策信息；根据所述控制决策信息控制所述车辆模型动作，得到所述控车结果。
在一些示例中，所述控制模块，用于将所述整车信息和所述检测信息输入到所述待测车辆的电子控制单元ECU对应的虚拟的ECU控制器，以便所述虚拟的ECU控制器生成所述控制决策信息。
在另一些示例中，所述控制模块，用于将所述整车信息和所述检测信息发送给所述待测车辆的ECU控制器，以便所述ECU控制器生成所述控制决策信息。
可选地，所述控制模块，用于通过下位机对所述检测信息和所述整车信息进行同步，以及将同步后的所述整车信息和所述检测信息发送给所述ECU控制器。
可选地，所述下位机通过CAN卡将同步后的所述检测信息和所述整车信息发送给所述ECU控制器。
本公开实施例还提供了一种超声波雷达控车策略的测试装置，该装置包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行所述指令以实现上述超声波雷达控车策略的测试方法。
本公开实施例提出了一种超声波雷达控车策略的测试系统，包括：超声波雷达和测试设备。超声波雷达设置在待测车辆上；所述测试设备用于获取所述超声波雷达的检测信息；基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息，其中，所述车辆模型根据所述待测车辆的实际车况进行搭建；根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果，所述控车结果用于分析所述控车策略。
示例性地，测试设备包括上位机和下位机，所述上位机与所述下位机之间通信连接，其中，所述下位机用于获取所述检测信息，并将所述检测信息发送给所述上位机；所述上位机用于基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息，根据所述检测信息和所述整车信息控制所述车辆模型动作，以得到控车结果。
在一些示例中，所述上位机中设有所述待测车辆的电子控制单元ECU对应的虚拟的ECU控制器，所述上位机用于将所述整车信息和所述检测信息输入到所述虚拟的ECU控制器，以便所述虚拟的ECU控制器生成所述控制决策信息；以及根据所述控制决策信息控制所述车辆模型动作。
在另一些示例中，所述上位机还用于将所述整车信息发送给所述下位机，所述下位机用于获取所述检测信息，并接收所述上位机下发的整车信息，对所述检测信息和所述整车信息进行同步，以及将同步后的所述检测信息和所述整车信息发送给所述待测车辆的ECU控制器，以便所述ECU控制器根据所述整车信息和所述检测信息生成所述控制决策信息，所述下位机还用于将所述控制决策信息发送给所述上位机，以根据所述控制决策信息控制所述车辆模型动作。
本公开实施例还提供了一种超声波雷达控车策略的测试方法，包括以下步骤：获取设置在待测车辆上的超声波雷达的检测信息；搭建所述待测车辆的车辆模型和环境模型，其中，所述车辆模型根据所述待测车辆的实际车况进行搭建；基于所述车辆模型，获取所述待测车辆处于所述环境模型时的整车信息，并根据所述整车信息和所述超声波雷达的检测信息对所述待测车辆的ECU功能进行测试以生成控制决策信息；将所述控制决策信息发送给所述车辆模型进行执行，以便根据执行结果对所述ECU功能进行分析。
在一些示例中，所述车辆模型和环境模型分别根据上位机中的仿真软件进行搭建。
在一些示例中，所述上位机通过控制算法虚拟出所述待测车辆的ECU时，将基于所述车辆模型获取的整车信息和下位机上传的超声波雷达的检测信息输入到虚拟的ECU，以便所述虚拟的ECU生成所述控制决策信息，并将所述控制决策信息直接发送给所述车辆模型进行执行。
在另一些示例中，虚拟出的待测车辆的ECU替换为待测车辆的ECU控制器时，所述上位机将基于所述车辆模型获取的整车信息发送给下位机，其中，所述ECU控制器通过所述下位 机获取所述超声波雷达的检测信息，并通过所述下位机接收所述上位机下发的整车信息，以及根据所述整车信息和所述超声波雷达的检测信息生成所述控制决策信息，并通过所述下位机将所述控制决策信息发送给所述车辆模型进行执行。
可选地，所述下位机包括实时信息集成单元，所述实时信息集成单元通过CAN卡获取所述超声波雷达的检测信息，并通过所述下位机与所述上位机之间的网络连接接收所述上位机下发的整车信息，以便对所述超声波雷达的检测信息和所述上位机下发的整车信息进行同步。
可选地，所述实时信息集成单元通过CAN卡将同步后的所述超声波雷达的检测信息和所述上位机下发的整车信息发送给所述ECU控制器。
本公开实施例提出了一种超声波雷达控车策略的测试系统，包括上位机和下位机，所述上位机与所述下位机之间进行网络通信，其中，所述下位机用于获取设置在待测车辆上的超声波雷达的检测信息，并将所述超声波雷达的检测信息发送给所述上位机；所述上位机用于搭建所述待测车辆的车辆模型和环境模型，其中，所述车辆模型根据所述待测车辆的实际车况进行搭建；所述上位机还用于，基于所述车辆模型，获取所述待测车辆处于所述环境模型时的整车信息，并根据所述整车信息和所述超声波雷达的检测信息对所述待测车辆的ECU功能进行测试以生成控制决策信息，以及将所述控制决策信息发送给所述车辆模型进行执行，以便根据执行结果对所述ECU功能进行分析。
可选地，所述上位机根据仿真软件搭建所述车辆模型和环境模型，并通过控制算法虚拟出所述待测车辆的ECU时，将基于所述车辆模型获取的整车信息和下位机上传的超声波雷达的检测信息输入到虚拟的ECU，以便所述虚拟的ECU生成所述控制决策信息。
可选地，所述上位机还将基于所述车辆模型获取的整车信息发送给所述下位机，所述下位机包括实时信息集成单元，所述实时信息集成单元通过CAN卡获取所述超声波雷达的检测信息，并通过所述下位机与所述上位机之间的网络通信接收所述上位机下发的整车信息，以及对所述超声波雷达的检测信息和所述上位机下发的整车信息进行同步，并通过CAN卡将同步后的所述超声波雷达的检测信息和所述上位机下发的整车信息发送给所述待测车辆的ECU控制器，以便所述ECU控制器根据所述整车信息和所述超声波雷达的检测信息生成所述控制决策信息，并通过所述下位机将所述控制决策信息发送给所述车辆模型进行执行。
本公开实施例还提出了一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现上述超声波雷达控车策略的测试方法。
本公开实施例还提出了一种计算机程序产品，包括计算机程序/指令，所述计算机程序/指令被处理器执行时实现上述超声波雷达控车策略的测试方法。
本公开附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。
附图说明
图1为根据本公开实施例提供的一种超声波雷达控车策略的测试方法的流程图；
图2为根据本公开实施例提供的另一种超声波雷达控车策略的测试方法的流程图；
图3为根据本公开实施例提供的一种超声波雷达控车策略的测试整体架构示意图；
图4为根据本公开实施例提供的一种超声波雷达控车策略的测试装置的结构示意图；
图5为根据本公开实施例提供的一种超声波雷达控车策略的测试装置的结构示意图；
图6为根据本公开实施例提供的一种超声波雷达控车策略的测试系统结构框图。
具体实施方式
下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。
由于在切换到真实超声波雷达后，会受到噪声影响，真实超声波雷达的检测信息与超声波雷达模型产生的虚拟检测信号并不完全一致，导致车辆无法正确处理真实超声波雷达信息，出现大量问题。
下面参考附图描述本公开实施例的超声波雷达控车策略的测试方法、装置、系统和存储介质。
图1为根据本公开实施例提供的一种超声波雷达控车策略的测试方法的流程图。参考图1所示，该测试方法包括以下步骤：
在S101中，获取超声波雷达的检测信息，该超声波雷达设置在待测车辆上。
也即是，通过真实的超声波雷达进行检测。
在S102中，基于待测车辆的车辆模型和待测车辆所处环境的环境模型，获取待测车辆的整车信息。
其中，车辆模型根据待测车辆的实际车况进行搭建。环境模型为映射现实场景的环境，环境模型中的道路及车辆行驶域需要与现实场景达到一致。
在S103中，根据检测信息和整车信息按照控车策略控制车辆模型动作，以得到控车结果。
其中，控车结果用于对控车策略进行分析。
在本公开实施例中，采用设置在待测车辆上的超声波雷达来获取检测信息，并根据检测信息来对控车策略进行测试，解决了噪点难以添加的问题，降低了真实车辆不可预知因素对控车的影响。
此外，基于搭建的车辆模型、环境模型以及真实超声波雷达获取的检测信息进行超声波雷达控车策略的测试，降低了研发成本，缩短了研发周期。
图2为根据本公开实施例提供的另一种超声波雷达控车策略的测试方法的流程图。参考 图2所示，该测试方法可以由测试设备执行。该测试方法包括以下步骤：
在S201中，获取超声波雷达的检测信息，该超声波雷达设置在待测车辆上。
本公开实施例中，采用真实超声波雷达对待测车辆信息进行检测。示例性地，可将超声波雷达通过粘合支架直接粘贴在未改制的待测车辆上。该设置方式实现简单，且成本低。
示例性地，在将超声波雷达设置在待测车辆上之后，可以对超声波雷达进行测试标定，在测试标定后，对待测车辆信息(即待测车辆周围的障碍物信息)进行检测，然后通过CAN(Controller Area Network，控制器局域网络)输出接口(即CAN接口)对外发送检测到的信息。这里，对外是指对超声波雷达之外的设备发送检测信息。
需要说明的是，本公开实施例对待测车辆的类型不做限制，只要能够承载超声波雷达即可。
在S202中，搭建待测车辆的车辆模型和环境模型，其中，车辆模型根据待测车辆的实际车况进行搭建。
在本公开实施例中，车辆模型和环境模型可分别采用上位机中的仿真软件进行搭建。
示例性地，可通过仿真软件根据待测车辆搭建理想车辆动力学模型作为控制执行机构，并可通过仿真软件搭建环境模型。
在本公开实施例中，环境模型用于映射现实场景的环境(即用于映射待测车辆所处的环境)，环境模型中的道路及车辆行驶域需要与现实场景达到一致。作为一个示例，环境模型包括一条车道、车道中轴线和停车区域，其中，停车区域可以车道中轴线为位置参考线向车道两边各延伸一定距离(如10m)的区域。
需要说明的是，S202为可选步骤，车辆模型和环境模型可以预先搭建，需要使用的时候，直接调用即可。
在S203中，基于车辆模型，获取待测车辆处于环境模型对应的环境时的整车信息。
示例性地，整车信息包括但不限于车辆的行驶状态信息以及位置信息。该行驶状态信息包括但不限于整车速度、转向角、转向速度、油门位置和档位等，该位置信息可以为相对环境模型中的参照物的位置信息，例如相对于车位的位置以及偏航角等。
该整车信息用以控制车辆整体状态泊进停车位置；获取当前转向、制动、油门、档位，作为执行对象，车辆获得相应速度、转向、转向角等目标值。
通过S202-S203可实现基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息。
在S204中，根据整车信息和超声波雷达的检测信息对待测车辆的ECU(Electronic Control Unit，电子控制单元)的功能进行测试，以生成控制决策信息。
在本公开实施例中，ECU的功能包括但不限于APA(Auto Parking Assist，自动泊车)、BSD(Blind Spot Detection，盲区监测)、FCW(Forward Collision Warning)前方碰撞预 警等功能。ECU的功能即控车策略。
控制决策信息包括但不限于速度、转向方向、转向角等目标值。
示例性地，上位机可基于车辆模型获取待测车辆处于环境模型时的整车信息，并从下位机获取超声波雷达的检测信息，然后根据整车信息和超声波雷达的检测信息对待测车辆的ECU功能进行测试以生成控制决策信息。
可替代地，也可通过ECU控制器根据从下位机获取的整车信息和超声波雷达的检测信息对待测车辆的ECU功能进行测试以生成控制决策信息。
在S205中，将控制决策信息发送给车辆模型进行执行，以便根据执行结果对ECU功能进行分析。
通过该步骤S205即可实现根据控制决策信息控制车辆模型动作，该车辆模型的执行结果即控车结果。在本公开实施例中，控车结果包括转向速度、转向角、行驶速度、行驶距离、最终停靠位置和车辆偏航角等。
通过S204和S205，即可实现根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果。
示例性地，可将控制决策信息发送给环境模型中的车辆模型进行执行，从而根据车辆模型的执行结果对ECU控制算法和ECU控制器的功能实现的完成度和有效性进行分析。
下面以APA功能为例，对本公开实施例的测试方法进行示例性说明。APA的执行过程通常包含寻找车位过程、泊车入位过程、前向距离及位姿调控过程。
在泊车过程中，获取整车信息及超声波雷达的检测信息，输入给ECU控制器或者虚拟ECU；ECU控制器或者虚拟ECU生成控制决策信息；根据控制决策信息控制环境模型中的车辆模型进行泊车，最终停靠在环境模型中的车位中(为加速测试，现实场景中不做泊车，即待车车辆不动作)；根据最终车辆模型位姿(偏航角是否与车位同方向、前后车距是否达到要求)，及泊车过程中车辆信息的变化，衡量功能算法是否满足功能要求，即衡量控车策略是否满足要求。
对于APA功能，衡量控车策略的完成度和有效性包括是否顺滑完成整个泊车过程，是否出现频繁档位切换或者转向的情况，最终泊车前后间距是否满足指标要求、位姿方向是否跟车位方向一致等。如果这些条件均达到要求，表示APA功能合格。
在本公开的一个实施例中，上位机通过控制算法虚拟出待测车辆的ECU时，即上位机中设置有待测车辆的ECU对应的虚拟ECU时，S203包括：将基于车辆模型获取的整车信息和下位机上传的超声波雷达的检测信息输入到虚拟的ECU控制器，以便虚拟的ECU控制器生成控制决策信息，并将控制决策信息直接发送给车辆模型进行执行，以控制车辆模型动作。
参考图3所示，上位机包括车辆模型和环境模型以及通过控制算法虚拟出待测车辆的ECU的上位机ECU算法，又称虚拟的ECU控制器。上位机可基于车辆模型获取车辆的整车信息， 并可接收下位机上传的超声波雷达的检测信息，然后将获取的整车信息和超声波雷达的检测信息输入至上位机中的虚拟的ECU控制器以生成控制决策信息，并将控制决策信息发送给执行机构即车辆模型进行执行。
在本公开的另一个实施例中，虚拟的ECU控制器替换为待测车辆的ECU控制器时，上位机将基于车辆模型获取的整车信息发送给下位机，其中，ECU控制器通过下位机获取超声波雷达的检测信息，并通过下位机接收上位机下发的整车信息，以及根据整车信息和超声波雷达的检测信息生成控制决策信息，并通过下位机将控制决策信息发送给车辆模型执行。
参考图3所示，下位机包括实时信息集成单元，实时信息集成单元通过CAN卡获取超声波雷达的检测信息，并通过下位机与上位机之间的网络连接接收上位机下发的整车信息，以便对超声波雷达的检测信息和上位机下发的整车信息进行同步。当虚拟出的待测车辆的ECU替换为待测车辆的ECU控制器时，实时信息集成单元可通过CAN卡将同步后的超声波雷达的检测信息和上位机下发的整车信息发送给ECU控制器。ECU控制器根据整车信息和超声波雷达的检测信息生成控制决策信息，并通过下位机将控制决策信息发送给车辆模型执行。
根据本公开实施例的超声波雷达控车策略的测试方法，通过根据车辆模型获取的整车信息和通过超声波雷达获取的检测信息对待测车辆的ECU功能进行测试以生成控制决策信息，并将控制决策信息发送给车辆模型进行执行，以便根据执行结果对ECU功能进行分析的方法可有效降低研发成本，缩短研发周期，降低真实车辆不可预知因素对控车算法或ECU的影响和解决真实超声波雷达噪点难以添加的问题。
本公开实施例还提出了一种超声波雷达控车策略的测试装置。图4为根据本公开实施例提供的一种超声波雷达控车策略的测试装置的结构框图。如图4所示，该装置400包括第一获取模块401、第二获取模块402和控制模块403。
第一获取模块401用于获取超声波雷达的检测信息，该超声波雷达设置在待测车辆上。第二获取模块402用于基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息；其中，所述车辆模型根据所述待测车辆的实际车况进行搭建。控制模块403用于根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果；分析模块，用于根据所述控车结果对控车策略进行分析。
可选地，所述超声波雷达通过粘合支架粘贴在所述待测车辆上。
可选地，所述控制模块403用于根据所述检测信息和所述整车信息对所述待测车辆的电子控制单元ECU中的功能进行测试，以生成控制决策信息；采用所述控制决策信息控制所述车辆模型动作，得到所述控车结果。
在一些示例中，所述控制模块403用于将所述整车信息和所述检测信息输入到所述待测车辆的电子控制单元ECU对应的虚拟的ECU控制器，以便所述虚拟的ECU控制器生成所述控制决策信息。
在另一些示例中，所述控制模块403用于将所述整车信息和所述检测信息发送给所述待测车辆的ECU控制器，以便所述ECU控制器生成所述控制决策信息。
可选地，所述控制模块403用于通过下位机对所述检测信息和所述整车信息进行同步，以及将同步后的所述整车信息和所述检测信息发送给所述ECU控制器。
可选地，所述下位机通过CAN卡将同步后的所述检测信息和所述整车信息发送给所述ECU控制器。
需要说明的是，上述实施例提供的测试装置在对控车策略进行测试时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将设备的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的测试装置与测试方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
本公开实施例还提供了一种超声波雷达控车策略的测试装置，该装置包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行所述指令以实现上述超声波雷达控车策略的测试方法。
图5是本公开实施例提供的一种超声波雷达控车策略的测试装置的结构框图。该测试装置为计算机设备。如图5所示，该计算机设备500可以是车载电脑等。该计算机设备500包括：处理器501和存储器502。
处理器501可以包括一个或多个处理核心，比如7核心处理器、8核心处理器等。处理器501可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器501也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器501可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器501还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器502可以包括一个或多个计算机可读介质，该计算机可读介质可以是非暂态的。存储器502还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器502中的非暂态的计算机可读介质用于存储至少一个指令，该至少一个指令用于被处理器501所执行以实现本公开实施例中提供的混合动力汽车的动力供给控制方法。
本领域技术人员可以理解，图5中示出的结构并不构成对计算机设备500的限定，可以 包括比图示更多或更少的组件，或者组合某些组件，或者采用不同的组件布置。
本公开还提出了一种非临时性计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现上述所述的超声波雷达控车策略的测试方法。
本公开还提出了一种计算机程序产品，包括计算机程序/指令，所述计算机程序/指令被处理器执行时实现上述超声波雷达控车策略的测试方法。
本公开还提出了一种超声波雷达控车策略的测试系统。图6为根据本公开实施例提供的一种超声波雷达控车策略的测试系统的结构框图。如图6所示，超声波雷达控车策略的测试系统100包括超声波雷达61和测试设备62。超声波雷达61设置在待测车辆上。测试设备62用于实现图1或图2所示的测试方法。
示例性地，测试设备62包括上位机621和下位机622。上位机621和下位机622之间通过网络通信，即通信连接，下位机622与超声波雷达61通过CAN卡通信。
下位机622用于获取超声波雷达61的检测信息，并将超声波雷达61的检测信息发送给上位机621。
在一些示例中，上位机621用于搭建待测车辆的车辆模型和环境模型，其中，车辆模型根据待测车辆的实际车况进行搭建。上位机621还用于，基于车辆模型，获取待测车辆处于环境模型对应的环境时的整车信息，并根据整车信息和超声波雷达623的检测信息对待测车辆的ECU功能进行测试以生成控制决策信息，以及将控制决策信息发送给车辆模型进行执行，以便根据执行结果对ECU功能进行分析。
本实施例中，上位机621根据仿真软件搭建车辆模型和环境模型，并通过控制算法虚拟出待测车辆的ECU时，可将基于车辆模型获取待测车辆处于环境模型时的整车信息和下位机上传的超声波雷达61的检测信息输入到虚拟的ECU控制器，以便虚拟的ECU控制器生成控制决策信息。
在一些示例中，下位机102和ECU控制器63通信连接，例如通过CAN卡连接。上位机621还将基于车辆模型获取的整车信息发送给下位机622，下位机622包括实时信息集成单元。实时信息集成单元通过CAN卡获取超声波雷达61的检测信息，并通过下位机622与上位机621之间的网络通信接收上位机621下发的整车信息，以及对超声波雷达61的检测信息和上位机621下发的整车信息进行同步，并通过CAN卡将同步后的超声波雷达623的检测信息和上位机621下发的整车信息发送给待测车辆的ECU控制器63，以便ECU控制器63根据整车信息和超声波雷达61的检测信息生成控制决策信息，并通过下位机622将控制决策信息发送给车辆模型进行执行，即发送给上位机621，以使上位机621根据控制决策信息控制车辆模型在环境模型中动作。
根据本公开实施例的超声波雷达控车策略的测试系统，通过根据车辆模型获取的整车信息和通过超声波雷达获取的检测信息对待测车辆的ECU功能进行测试以生成控制决策信息， 并将控制决策信息发送给车辆模型进行执行，以便根据执行结果对ECU功能进行分析的方法可有效降低研发成本，缩短研发周期，降低真实车辆不可预知因素对控车算法或ECU的影响和解决噪点难以添加的问题。
需要说明的是，在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (20)

  1. 一种超声波雷达控车策略的测试方法，包括：
    获取超声波雷达的检测信息，所述超声波雷达设置在待测车辆上；
    基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息，其中，所述车辆模型根据所述待测车辆的实际车况进行搭建；
    根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果，所述控车结果用于分析所述控车策略。
  2. 如权利要求1所述的测试方法，其中，所述超声波雷达通过粘合支架粘贴在所述待测车辆上。
  3. 如权利要求1或2所述的测试方法，其中，所述根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果，包括：
    根据所述检测信息和所述整车信息对所述待测车辆的电子控制单元ECU的功能进行测试，以生成控制决策信息；
    根据所述控制决策信息控制所述车辆模型动作，以得到所述控车结果。
  4. 如权利要求3所述的测试方法，其中，所述根据所述检测信息和所述整车信息对所述待测车辆的电子控制单元ECU的功能进行测试，以生成控制决策信息，包括：
    将所述整车信息和所述检测信息输入到所述待测车辆的电子控制单元ECU对应的虚拟的ECU控制器，以便所述虚拟的ECU控制器生成所述控制决策信息。
  5. 如权利要求3所述的测试方法，其中，所述根据所述整车信息和所述检测信息对所述待测车辆的电子控制单元ECU的功能进行测试，以生成控制决策信息，包括：
    将所述整车信息和所述检测信息发送给所述待测车辆的ECU控制器，以便所述ECU控制器生成所述控制决策信息。
  6. 如权利要求5所述的测试方法，其中，将所述整车信息和所述检测信息发送给所述待测车辆的ECU控制器，包括：
    通过下位机对所述检测信息和所述整车信息进行同步，以及通过所述下位机将同步后的所述整车信息和所述检测信息发送给所述ECU控制器。
  7. 如权利要求6所述的测试方法，其中，所述下位机通过CAN卡将同步后的所述检测信息和所述整车信息发送给所述ECU控制器。
  8. 一种超声波雷达控车策略的测试装置，包括：
    第一获取模块，用于获取超声波雷达的检测信息，所述超声波雷达设置在待测车辆上；
    第二获取模块，用于基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型， 获取所述待测车辆的整车信息，其中，所述车辆模型根据所述待测车辆的实际车况进行搭建；
    控制模块，用于根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果，所述控车结果用于分析所述控车策略。
  9. 如权利要求8所述的测试装置，其中，所述超声波雷达通过粘合支架粘贴在所述待测车辆上。
  10. 如权利要求8所述的测试装置，其中，所述控制模块，用于根据所述检测信息和所述整车信息对所述待测车辆的电子控制单元ECU中的功能进行测试，以生成控制决策信息；采用所述控制决策信息控制所述车辆模型动作，得到所述控车结果。
  11. 如权利要求10所述的测试装置，其中，所述控制模块，用于将所述整车信息和所述检测信息输入到所述待测车辆的电子控制单元ECU对应的虚拟的ECU控制器，以便所述虚拟的ECU控制器生成所述控制决策信息。
  12. 如权利要求10所述的测试装置，其中，所述控制模块，用于将所述整车信息和所述检测信息发送给所述待测车辆的ECU控制器，以便所述ECU控制器生成所述控制决策信息。
  13. 如权利要求12所述的测试装置，其中，所述控制模块，用于通过下位机对所述检测信息和所述整车信息进行同步，以及通过所述下位机将同步后的所述整车信息和所述检测信息发送给所述ECU控制器。
  14. 如权利要求13所述的测试装置，其中，所述下位机通过CAN卡将同步后的所述检测信息和所述整车信息发送给所述ECU控制器。
  15. 一种超声波雷达控车策略的测试装置，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为执行所述指令以实现如权利要求1-7中任一项所述的超声波雷达控车策略的测试方法。
  16. 一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如权利要求1-7中任一项所述的超声波雷达控车策略的测试方法。
  17. 一种超声波雷达控车策略的测试系统，其特征在于，包括：
    超声波雷达，设置在待测车辆上；
    测试设备，所述测试设备用于获取所述超声波雷达的检测信息；基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息，其中，所述车辆模型根据所述待测车辆的实际车况进行搭建；根据所述检测信息和所述整车信息按照控车策略控制所述车辆模型动作，以得到控车结果，所述控车结果用于分析所述控车策略。
  18. 如权利要求17所述的测试系统，其中，所述测试设备包括：上位机和下位机，所述 上位机与所述下位机之间通信连接，其中，
    所述下位机用于获取所述检测信息，并将所述检测信息发送给所述上位机；
    所述上位机用于基于所述待测车辆的车辆模型和所述待测车辆所处环境的环境模型，获取所述待测车辆的整车信息，根据所述检测信息和所述整车信息控制所述车辆模型动作，以得到控车结果。
  19. 如权利要求18所述的测试系统，其中，所述上位机中设有所述待测车辆的电子控制单元ECU对应的虚拟的ECU控制器，所述上位机用于将所述整车信息和所述检测信息输入到所述虚拟的ECU控制器，以便所述虚拟的ECU控制器生成所述控制决策信息；以及根据所述控制决策信息控制所述车辆模型动作。
  20. 如权利要求18所述的测试系统，其中，所述上位机还用于将所述整车信息发送给所述下位机，
    所述下位机用于获取所述检测信息，并接收所述上位机下发的整车信息，对所述检测信息和所述整车信息进行同步，以及将同步后的所述检测信息和所述整车信息发送给所述待测车辆的ECU控制器，以便所述ECU控制器根据所述整车信息和所述检测信息生成所述控制决策信息，
    所述下位机还用于将所述控制决策信息发送给所述上位机，以根据所述控制决策信息控制所述车辆模型动作。
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