Performance test method, device and equipment of advanced driving assistance system and medium

Abstract

The embodiment of the invention discloses a performance test method and device for an advanced driving assistance system, equipment and a medium. The method comprises the following steps: acquiring a to-be-tested data packet of a to-be-tested vehicle, and analyzing the to-be-tested data packet to obtain module test data of a to-be-tested functional module; wherein the module test data comprises candidate module output data; determining a test environment for testing the to-be-tested function module, and if the test environment is a simulation test environment, determining a current simulation test timestamp according to the reference module output data after the previous module test algorithm scheduling is completed; and according to the current simulation test timestamp, performing current scheduling on a module test algorithm of the to-be-tested function module to obtain current simulation output data, and according to each current simulation output data, determining a simulation test result of the performance of the advanced driving assistance system. And the performance test efficiency of the advanced driving assistance system is improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of automobile technology, and in particular to a performance testing method, device, equipment and medium for an advanced driver assistance system. Background Art

[0002] In recent years, with the gradual acceleration of automobile intelligence, the installation rate of ADAS (Advanced Driving Assistance System) has increased year by year. ADAS requires a lot of resources for testing and verification at all stages of project development. The simulation or long-mileage road test methods used to test the performance of ADAS systems have the problem of low testing efficiency. Summary of the invention

[0003] The present invention provides a performance test method, device, equipment and medium for an advanced driver assistance system, so as to improve the performance test efficiency of the advanced driver assistance system.

[0004] According to one aspect of the present invention, a performance test method for an advanced driver assistance system is provided, comprising:

[0005] Acquire a data packet to be tested of the vehicle to be tested, and parse the data packet to be tested to obtain module test data of the functional module to be tested; wherein the module test data includes output data of the candidate module;

[0006] Determine a test environment for testing the functional module to be tested. If the test environment is a simulation test environment, after completing the previous module test algorithm scheduling, determine the current simulation test timestamp based on the reference module output data; wherein the reference module output data is the output data of the candidate module that has not participated in the module test algorithm scheduling;

[0007] According to the current simulation test timestamp, the module test algorithm of the functional module to be tested is currently scheduled to obtain current simulation output data, and according to each of the current simulation output data, the simulation test result of the performance of the advanced driver assistance system is determined.

[0008] According to another aspect of the present invention, there is provided a performance testing device for an advanced driver assistance system, comprising:

[0009] A module test data acquisition module is used to acquire a data packet to be tested of a vehicle to be tested, and parse the data packet to be tested to obtain module test data of a functional module to be tested; wherein the module test data includes output data of a candidate module;

[0010] A test timestamp determination module is used to determine the test environment for testing the functional module to be tested. If the test environment is a simulation test environment, after completing the previous module test algorithm scheduling, the current simulation test timestamp is determined based on the reference module output data; wherein the reference module output data is the output data of the candidate module that has not participated in the module test algorithm scheduling;

[0011] The performance test result determination module is used to perform current scheduling on the module test algorithm of the functional module to be tested according to the current simulation test timestamp, obtain current simulation output data, and determine the simulation test result of the performance of the advanced driver assistance system according to each current simulation output data.

[0012] According to another aspect of the present invention, there is provided an electronic device, comprising:

[0013] one or more processors;

[0014] A memory for storing one or more programs;

[0015] When one or more programs are executed by one or more processors, the one or more processors can execute any one of the advanced driver assistance system performance testing methods provided by the embodiments of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement any one of the advanced driver assistance system performance testing methods provided by the embodiments of the present invention when executed.

[0017] The embodiment of the present invention provides a performance test scheme for an advanced driver assistance system, which obtains a data packet to be tested of a vehicle to be tested, and parses the data packet to be tested to obtain module test data of a function module to be tested; wherein the module test data includes candidate module output data; determines a test environment for testing the function module to be tested, and if the test environment is a simulation test environment, determines a current simulation test timestamp based on reference module output data after completing the previous module test algorithm scheduling; wherein the reference module output data is candidate module output data that has not participated in the module test algorithm scheduling; according to the current simulation test timestamp, performs current scheduling on the module test algorithm of the function module to be tested, obtains current simulation output data, and determines the simulation test results of the performance of the advanced driver assistance system based on each current simulation output data. The above scheme introduces the current simulation test timestamp in the simulation test environment to schedule the module test algorithm based on the current simulation test timestamp, thereby avoiding scheduling waiting and improving the performance test efficiency of the advanced driver assistance system.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 is a flow chart of a performance testing method for an advanced driver assistance system provided in Embodiment 1 of the present invention;

[0021] Figure 2A is a flow chart of a performance testing method for an advanced driver assistance system provided by Embodiment 2 of the present invention;

[0022] Figure 2B This is a schematic diagram of ADAS system data flow provided by Embodiment 2 of the present invention;

[0023] Figure 3 is a schematic structural diagram of a performance testing device for an advanced driver assistance system provided by a third embodiment of the present invention;

[0024] Figure 4 It is a structural schematic diagram of an electronic device for implementing a performance testing method for an advanced driver assistance system provided in a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0026] At present, there are many kinds of simulation technologies used in the industry, including MIL (Module-In-Loop), SIL (Software-In-Loop), HIL (Hardware-In-Loop), etc. MIL is commonly used in projects developed using simulink models, and is not suitable for the current C++ development model; HIL depends on the hardware platform and needs to be customized according to the project, which is relatively expensive. Often only one or two sets are configured for a project, making it difficult to ensure that developers of each module can use it. The use of SIL is relatively more common, and it has the advantage of simple adaptation to reuse data from various projects, and has great application value both in the early and late stages of project development.

[0027] Currently, there are SIL solutions in the industry that reuse long-mileage road test data to re-inject iterative algorithms. However, the existing solutions do not involve technologies such as simulation time acceleration and cloud deployment. In actual use, the tuning of a specific case can improve development efficiency, but it is not capable of processing large-scale road test data.

[0028] Embodiment 1

[0029] Figure 1 It is a flow chart of a performance testing method for an advanced driving assistance system provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of testing the performance of an advanced driving assistance system. The method can be executed by a performance testing device for an advanced driving assistance system. The device can be implemented in software and / or hardware and can be configured in an electronic device that carries the performance testing function of the advanced driving assistance system.

[0030] See also Figure 1 The performance test method of the advanced driver assistance system shown includes:

[0031] S110, obtaining a data packet to be tested of the vehicle to be tested, and parsing the data packet to be tested to obtain module test data of the functional module to be tested; wherein the module test data includes output data of the candidate module.

[0032] Among them, the vehicle to be tested refers to a vehicle that needs to undergo ADAS performance testing. The data packet to be tested refers to a data packet recorded when the vehicle to be tested is running. The embodiment of the present invention does not impose any limitation on the data storage format of the data packet to be tested, which can be set by a technician based on experience. Exemplarily, the data storage format of the data packet to be tested can be rosbag (used to record, replay, and analyze data in rostopic) or mf4 (Measurement Data Format version 4).

[0033] Among them, the functional module to be tested refers to the functional module that needs to be tested in the ADAS. Exemplarily, the functional module to be tested can be a perception fusion module, a vision module or a regulation and control module. Module test data refers to the data required to test the functional module to be tested. Exemplarily, the module test data includes candidate module input data and candidate module output data. Candidate module input data refers to the data that needs to be processed by the functional module to be tested. Candidate module output data refers to the data obtained by the functional module to be tested processing the candidate module input data.

[0034] In an optional embodiment, parsing the data packet to be tested to obtain module test data of the functional module to be tested includes: determining the functional module to be tested from the candidate test functional modules; parsing the data packet to be tested according to the module function of the functional module to be tested to obtain module test data.

[0035] The candidate test function module refers to a function module in ADAS. Exemplarily, the candidate test function module includes a perception fusion module, a vision module and a regulation and control module. The module function refers to the usefulness of the candidate test function module.

[0036] Exemplarily, the perception fusion module is used to fuse visual perception data, radar perception data and body signal data to obtain fused target data. Visual perception data refers to the data output by the visual module. Body signal data refers to the vehicle data collected by the vehicle CAN, such as the lane data of the vehicle. Specifically, data from multiple sensors (such as speed, gyroscope, etc.) will be sent to the vehicle CAN. Radar perception data refers to the point cloud data collected by the on-board radar. Fusion target data refers to the data obtained by fusing visual perception data, radar perception data and body signal data. The candidate module input data of the perception fusion module includes visual perception data, radar perception data and body signal data, and the candidate module output data is the fusion target data.

[0037] Exemplarily, the visual module is used to obtain visual perception data based on the environmental image and the vehicle body signal data. The environmental image refers to the image captured by the vehicle camera. The visual perception data refers to the data obtained by fusing the environmental image and the vehicle body signal data. The candidate module input data of the visual module includes the environmental image and the vehicle body signal data, and the candidate module output data is the visual perception data.

[0038] Exemplarily, the regulation and control module is used to determine the vehicle control signal data according to the fusion target data and the vehicle body signal data. The vehicle control signal data refers to the data obtained by fusing the fusion target data and the vehicle body signal data. The vehicle control signal data can be used to control the vehicle to be tested. The candidate module input data of the regulation and control module includes the fusion target data and the vehicle body signal data, and the candidate module output data is the vehicle control signal data.

[0039] It can be understood that a functional module to be tested is first selected from the candidate test functional modules, and then the test data packet is parsed according to the module function of the functional module to be tested to obtain module test data, thereby avoiding parsing irrelevant data in the test data packet and improving the parsing efficiency, that is, improving the efficiency of determining the module test data; at the same time, it avoids the occupation of resources by irrelevant data obtained by parsing.

[0040] It should be noted that the technical solution provided by the embodiment of the present invention can perform independent testing on each candidate test function module, and then determine whether there is an abnormality in the function module to be tested in the ADAS based on the independent test results; it can also perform end-to-end feedback on each candidate test function module, that is, perform a global test on each candidate test function module, and determine whether there is an abnormality in each candidate test function module in the ADAS based on the global test results.

[0041] S120, determining a test environment for testing the functional module to be tested. If the test environment is a simulation test environment, after completing the previous module test algorithm scheduling, determine the current simulation test timestamp based on the reference module output data.

[0042] The test environment refers to an environment for performing performance tests on the functional modules to be tested. Exemplarily, the test environment may include a simulation test environment and a real vehicle test environment. The real vehicle test environment refers to performing performance tests on the ADAS on the vehicle to be tested.

[0043] The reference module output data is the output data of the candidate module that has not participated in the module test algorithm scheduling. The current simulation test timestamp refers to the simulation time of the scheduling module test algorithm.

[0044] S130 . According to the current simulation test timestamp, the module test algorithm of the functional module to be tested is currently scheduled to obtain current simulation output data, and according to each current simulation output data, a simulation test result of the performance of the advanced driver assistance system is determined.

[0045] The current simulation output data refers to the simulation output data obtained by processing the candidate module input data based on the module test algorithm. The module test algorithm refers to the algorithm corresponding to the functional module to be tested.

[0046] Among them, the simulation test result refers to the test result obtained by encapsulating each current simulation output data and performing automatic diagnosis. Exemplarily, the simulation test result can be a normal test or an abnormal test. A normal test means that the performance of the ADAS is normal. An abnormal test means that there is a fault in the performance of the ADAS.

[0047] Exemplarily, the current data recording time in the data packet to be tested is replaced with the current simulation test timestamp, and the module test algorithm of the functional module to be tested is currently scheduled according to the current simulation test timestamp to obtain the current simulation output data.

[0048] The current data recording time refers to the data recording time in the data packet to be tested when the module test algorithm is scheduled.

[0049] It should be noted that, for any functional module to be tested, the module test algorithm in the functional module to be tested has a scheduling cycle in the actual scheduling, that is, there is a waiting time between any two adjacent module test algorithm schedulings. Therefore, when the ADAS is performance tested, the test efficiency is low due to the need to wait. The embodiment of the present invention proposes that in a simulation test environment, after each module test algorithm scheduling is completed, the next module test algorithm scheduling is immediately performed to improve the test efficiency. In order to achieve the above purpose, the embodiment of the present invention needs to replace the current data recording time with the current simulation test timestamp to avoid inaccurate scheduling of the module test algorithm when the ADAS is simulated tested.

[0050] It should be noted that the current simulation test timestamp for the initial scheduling of the module test algorithm is the same as the initial data recording time in the data packet to be tested. The initial data recording time refers to the time when the output data of the first candidate module is generated.

[0051] The embodiment of the present invention provides a performance test scheme for an advanced driver assistance system, which obtains a data packet to be tested of a vehicle to be tested, and parses the data packet to be tested to obtain module test data of a function module to be tested; wherein the module test data includes candidate module output data; determines a test environment for testing the function module to be tested, and if the test environment is a simulation test environment, determines a current simulation test timestamp based on reference module output data after completing the previous module test algorithm scheduling; wherein the reference module output data is candidate module output data that has not participated in the module test algorithm scheduling; according to the current simulation test timestamp, performs current scheduling on the module test algorithm of the function module to be tested, obtains current simulation output data, and determines the simulation test results of the performance of the advanced driver assistance system based on each current simulation output data. The above scheme introduces the current simulation test timestamp in the simulation test environment to schedule the module test algorithm based on the current simulation test timestamp, thereby avoiding scheduling waiting and improving the performance test efficiency of the advanced driver assistance system.

[0052] On the basis of the above technical solution, the method under the simulation test environment provided by the embodiment of the present invention can be applied in the cloud, and when performing performance tests of multiple ADAS, it can be performed simultaneously in a multi-threaded manner, thereby improving the test efficiency.

[0053] Embodiment 2

[0054] Figure 2A It is a flow chart of a performance test method for an advanced driver assistance system provided in the second embodiment of the present invention. Based on the above embodiments, this embodiment further refines the operation of "determining the simulation test timestamp according to the reference module output data" into "determining the current module output data from the reference module output data, and using the data output timestamp in the current module output data as the current simulation test timestamp" to improve the determination mechanism of the current simulation test timestamp. It should be noted that for the parts not described in detail in the embodiments of the present invention, reference can be made to the descriptions of other embodiments.

[0055] See also Figure 2A The performance test method of the advanced driver assistance system shown includes:

[0056] S210, obtaining a data packet to be tested of the vehicle to be tested, and parsing the data packet to be tested to obtain module test data of the functional module to be tested; wherein the module test data includes output data of the candidate module.

[0057] S220: Determine a test environment for testing the functional module to be tested.

[0058] Specifically, the test environment for testing the functional module to be tested is determined based on the device for the ADAS performance test. If the device is a device on the vehicle to be tested, the test environment is a real vehicle test environment; if the device is a cloud or other simulation device, the test environment is a simulation test environment.

[0059] S230. If the test environment is a simulation test environment, after completing the previous module test algorithm scheduling, determine the current module output data based on the reference module output data, and use the data output timestamp in the current module output data as the current simulation test timestamp.

[0060] The current module output data refers to the output data of the candidate module participating in the module test algorithm scheduling at the current moment. Exemplarily, the current module output data can be determined according to the data output timestamp sequence in the reference module output data.

[0061] The data output timestamp refers to the time when the candidate module output data is obtained. The reference module output data is the output data of the candidate module that has not participated in the module test algorithm scheduling.

[0062] In the embodiment of the present invention, since the determination of the current simulation test timestamp depends on the data output timestamp in the current module output data, in order to improve the accuracy of the current simulation test timestamp, it is necessary to perform data missing detection on the output data of each candidate module to avoid time jumps in the current simulation test timestamp.

[0063] In an optional embodiment, before determining the test environment for testing the functional module to be tested, the method also includes: performing data missing detection on the output data of the candidate module according to the preset module scheduling cycle corresponding to the functional module to be tested; and determining whether to pre-process the output data of the candidate module based on the detection result.

[0064] The embodiment of the present invention does not impose any limitation on the size of the preset module scheduling cycle, which can be set by a technician based on experience. Preprocessing may include data compensation. Data compensation means that if there is a situation where the candidate module output data is missing, a module compensation data including the missing data output timestamp is generated. The module compensation data can be used to fill the missing candidate module data.

[0065] It can be understood that by introducing a preset module scheduling cycle, data missing detection is performed on the candidate module output data, and then it is determined whether preprocessing is required, which avoids omissions in the candidate module output data and improves the accuracy and comprehensiveness of the candidate module output data.

[0066] In an optional embodiment, data missing detection is performed on the candidate module output data according to the preset module scheduling period corresponding to the functional module to be tested, including: performing data missing detection on the candidate module output data according to the preset module scheduling period and the data output timestamp in the candidate module output data.

[0067] The data output timestamp refers to the time when the output data of the candidate module is obtained.

[0068] Exemplarily, if the difference between the data output timestamps in any two adjacent candidate module output data is equal to the preset module scheduling cycle, it is determined that there is no data missing between the aforementioned two adjacent candidate module output data; if the difference between the data output timestamps in any two adjacent candidate module output data is greater than the preset module scheduling cycle, it is determined that there is data missing between the aforementioned two adjacent candidate module output data, and further, at least one missing data output timestamp is determined based on the difference and the preset module scheduling cycle, and corresponding module compensation data is generated based on each missing data output timestamp.

[0069] It can be understood that by performing data missing detection on the candidate module output data according to the preset module scheduling cycle and data output timestamp, the accuracy of data missing detection is improved.

[0070] S240 . According to the current simulation test timestamp, the module test algorithm of the functional module to be tested is currently scheduled to obtain current simulation output data, and according to each current simulation output data, a simulation test result of the performance of the advanced driver assistance system is determined.

[0071] The embodiment of the present invention provides a performance test scheme for an advanced driver assistance system, which refines the operation of determining the simulation test timestamp based on the reference module output data into determining the current module output data from the reference module output data, and uses the data output timestamp in the current module output data as the current simulation test timestamp, thereby improving the determination mechanism of the current simulation test timestamp. The above scheme improves the accuracy of the determined current simulation test timestamp by using the data output timestamp in the current module output data as the current simulation test timestamp, avoids the occurrence of timestamp mismatch, and thus improves the accuracy of ADAS performance testing.

[0072] Based on the above technical solutions, the embodiment of the present invention proposes a data re-injection solution that supports time acceleration. Different from the previous re-injection solution that only supports a 1:1 ratio between the recording data duration and the simulation consumption duration, the solution proposed by the present invention can decouple the re-injection timestamp from the recording timestamp by replacing the timestamp. The re-injection speed can be dozens of times faster than the recording speed. The multi-threading technology combined with cloud deployment can greatly improve the data re-injection efficiency. It is suitable for test verification and performance evaluation under rapid algorithm iteration, greatly improving development efficiency, reducing test costs, and improving product competitiveness.

[0073] The present invention is mainly an ADAS data re-injection system, which is used for rapid iteration of ADAS algorithms. The system uses data recorded by real vehicles (i.e., data packets to be tested) as input. For example, see Figure 2BThe figure shows a data flow diagram of an ADAS system. The host computer is connected to the ADAS domain controller via Ethernet CAN, and records the camera data, radar data, vehicle body data, perception fusion data, and planning control module data sent by the domain controller. A feasible data storage format is rosbag. Among them, the SOC (System on Chip) and MCU (Micro Control Unit) in the ADAS domain control are connected through SPI (Serial Peripheral interface), the host computer is connected to the MCU through Ethernet CAN, the host computer is connected to the SOC through Ethereum Eth, and the radar Radar and vehicle CAN (Radar) are both connected to the SOC through CAN. SOC is used for perception fusion, and MCU is used for regulation and control. Both SOC and MCU are part of the ADAS domain controller.

[0074] The embodiment of the present invention is described by taking the function module to be tested as a perception fusion module as an example.

[0075] Exemplarily, read the rosbag file (i.e., the data packet to be tested) recorded by the actual vehicle, parse out the module test data required for re-injection, including visual perception data, radar perception data, fusion target data, and vehicle body signal data; perform data missing detection on the output data of the candidate module according to the preset module scheduling cycle corresponding to the functional module to be tested; determine whether to pre-process the output data of the candidate module according to the detection result; obtain different values ​​for the timestamp interface according to the different test environments, obtain the actual timestamp of the domain controller board in the actual vehicle running environment, and obtain the corresponding current simulation test timestamp in the simulation running environment, thereby achieving timestamp decoupling and then achieving re-injection time acceleration; re-encapsulate the simulation results into a data packet for analysis, and a feasible way is rosbag; perform automatic diagnosis on the simulation results, and label the time points of interest in the data packet; complete the simulation task. Among them, when the flow rate is the same as the recording time in the data packet to be tested, and when the data output timestamp in the output data of the candidate module is reached, the moment at this time is the actual timestamp.

[0076] The key point of the embodiment of the present invention is the adaptation of the module test algorithm to the timestamp part. The module test algorithm needs to achieve time separation. According to the actual operation mode, the actual timestamp of the board end is obtained in the actual vehicle operation environment, and the current simulation test timestamp is obtained in the simulation operation environment. During simulation, the timestamp sequence in the recorded data is used as the scheduling sequence during simulation, and the timestamp is provided to the module test algorithm, so that it does not rely on the real time flow in the simulation environment, avoids unnecessary delegation waiting time, and accelerates the simulation time. The efficiency improved thereby also varies according to the performance of the equipment running the simulation. The stronger the performance, the shorter the simulation time. The existing technology can often only maintain the same speed. For example, if the real vehicle records 5 minutes of data, it also takes 5 minutes to re-inject, which cannot fully utilize the equipment performance.

[0077] A performance testing method for an advanced driver assistance system provided by an embodiment of the present invention can achieve the purpose of reducing costs and improving efficiency by reusing real road test data and supporting functions such as time acceleration, cloud deployment and automated diagnosis.

[0078] Embodiment 3

[0079] Figure 3 : is a schematic diagram of the structure of a performance test device for an advanced driver assistance system provided in Embodiment 3 of the present invention. This embodiment is applicable to the case of testing the performance of an advanced driver assistance system, and the method can be executed by a performance test device for an advanced driver assistance system, which can be implemented in software and / or hardware, and can be configured in an electronic device that carries the performance test function of the advanced driver assistance system.

[0080] like Figure 3 As shown, the device includes: a module test data acquisition module 310, a test timestamp determination module 320 and a performance test result determination module 330. Among them,

[0081] The module test data acquisition module 310 is used to acquire a data packet to be tested of the vehicle to be tested, and parse the data packet to be tested to obtain module test data of the functional module to be tested; wherein the module test data includes output data of the candidate module;

[0082] The test timestamp determination module 320 is used to determine the test environment for testing the functional module to be tested. If the test environment is a simulation test environment, after completing the previous module test algorithm scheduling, the current simulation test timestamp is determined according to the reference module output data; wherein the reference module output data is the output data of the candidate module that has not participated in the module test algorithm scheduling;

[0083] The performance test result determination module 330 is used to perform current scheduling on the module test algorithm of the functional module to be tested according to the current simulation test timestamp, obtain current simulation output data, and determine the simulation test result of the performance of the advanced driver assistance system according to each current simulation output data.

[0084] The embodiment of the present invention provides a performance test scheme for an advanced driver assistance system, which obtains a data packet to be tested of a vehicle to be tested, and parses the data packet to be tested to obtain module test data of a function module to be tested; wherein the module test data includes candidate module output data; determines a test environment for testing the function module to be tested, and if the test environment is a simulation test environment, determines a current simulation test timestamp based on reference module output data after completing the previous module test algorithm scheduling; wherein the reference module output data is candidate module output data that has not participated in the module test algorithm scheduling; according to the current simulation test timestamp, performs current scheduling on the module test algorithm of the function module to be tested, obtains current simulation output data, and determines the simulation test results of the performance of the advanced driver assistance system based on each current simulation output data. The above scheme introduces the current simulation test timestamp in the simulation test environment to schedule the module test algorithm based on the current simulation test timestamp, thereby avoiding scheduling waiting and improving the performance test efficiency of the advanced driver assistance system.

[0085] Optionally, the test timestamp determination module 320 includes:

[0086] The timestamp determination unit is used to determine the current module output data from the reference module output data, and use the data output timestamp in the current module output data as the current simulation test timestamp.

[0087] Optionally, before determining the test environment for testing the functional module to be tested, the device further includes:

[0088] A data missing detection module, used to perform data missing detection on the output data of the candidate module according to the preset module scheduling period corresponding to the functional module to be tested;

[0089] The preprocessing module is used to determine whether to preprocess the output data of the candidate module according to the detection result.

[0090] Optionally, the data missing detection module includes:

[0091] The data missing detection unit is used to perform data missing detection on the candidate module output data according to the preset module scheduling period and the data output timestamp in the candidate module output data.

[0092] Optionally, the module test data acquisition module 310 includes:

[0093] A to-be-tested functional module determining unit, used to determine the to-be-tested functional module from candidate test functional modules;

[0094] The module test data determining unit is used to parse the data packet to be tested according to the module function of the functional module to be tested to obtain the module test data.

[0095] The performance testing device for an advanced driving assistance system provided in an embodiment of the present invention can execute the performance testing method for an advanced driving assistance system provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to executing the performance testing method for each advanced driving assistance system.

[0096] In the technical solution of the present invention, the collection, storage, use, processing, transmission, provision and disclosure of the data packets to be tested and the preset module scheduling period, etc., are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0097] Embodiment 4

[0098] Figure 4 It is a structural diagram of an electronic device for implementing a performance test method of an advanced driver assistance system provided by Embodiment 4 of the present invention. Electronic device 410 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0099] like Figure 4As shown, the electronic device 410 includes at least one processor 411, and a memory connected to the at least one processor 411 in communication, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0100] Multiple components in the electronic device 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0101] The processor 411 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as a performance test method for an advanced driver assistance system.

[0102] In some embodiments, the performance test method of the advanced driver assistance system may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the performance test method of the advanced driver assistance system described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to execute the performance test method of the advanced driver assistance system in any other appropriate manner (e.g., by means of firmware).

[0103] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0105] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0106] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0107] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0108] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0109] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0110] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A performance testing method for an advanced driver assistance system, characterized in that: include: Acquire a data packet to be tested of the vehicle to be tested, and parse the data packet to be tested to obtain module test data of the functional module to be tested; wherein the module test data includes output data of the candidate module; Determine a test environment for testing the functional module to be tested. If the test environment is a simulation test environment, after completing the previous module test algorithm scheduling, determine the current simulation test timestamp based on the reference module output data; wherein the reference module output data is the output data of the candidate module that has not participated in the module test algorithm scheduling; According to the current simulation test timestamp, the module test algorithm of the functional module to be tested is currently scheduled to obtain current simulation output data, and according to each of the current simulation output data, the simulation test result of the performance of the advanced driver assistance system is determined.

2. The method according to claim 1, characterized in that The step of determining the simulation test timestamp according to the reference module output data includes: The current module output data is determined from the reference module output data, and the data output timestamp in the current module output data is used as the current simulation test timestamp.

3. The method according to claim 1, characterized in that Before determining the test environment for testing the functional module to be tested, the method further includes: According to the preset module scheduling period corresponding to the functional module to be tested, performing data missing detection on the output data of the candidate module; According to the detection result, it is determined whether to pre-process the output data of the candidate module.

4. The method according to claim 3, characterized in that The step of performing data missing detection on the output data of the candidate module according to the preset module scheduling period corresponding to the functional module to be tested includes: According to the preset module scheduling period and the data output timestamp in the candidate module output data, data missing detection is performed on the candidate module output data.

5. The method according to any one of claims 1 to 4, characterized in that The step of parsing the data packet to be tested to obtain module test data of the functional module to be tested includes: Determine the to-be-tested functional module from the candidate test functional modules; According to the module function of the functional module to be tested, the data packet to be tested is parsed to obtain the module test data.

6. A performance test device for an advanced driver assistance system, characterized in that: include: A module test data acquisition module is used to acquire a data packet to be tested of a vehicle to be tested, and parse the data packet to be tested to obtain module test data of a functional module to be tested; wherein the module test data includes output data of a candidate module; A test timestamp determination module is used to determine the test environment for testing the functional module to be tested. If the test environment is a simulation test environment, after completing the previous module test algorithm scheduling, the current simulation test timestamp is determined based on the reference module output data; wherein the reference module output data is the output data of the candidate module that has not participated in the module test algorithm scheduling; The performance test result determination module is used to perform current scheduling on the module test algorithm of the functional module to be tested according to the current simulation test timestamp, obtain current simulation output data, and determine the simulation test result of the performance of the advanced driver assistance system according to each current simulation output data.

7. The device according to claim 6, characterized in that The test timestamp determination module comprises: The timestamp determination unit is used to determine the current module output data from the reference module output data, and use the data output timestamp in the current module output data as the current simulation test timestamp.

8. The device according to claim 6, characterized in that Before determining the test environment for testing the functional module to be tested, the device further includes: A data missing detection module, used to perform data missing detection on the output data of the candidate module according to a preset module scheduling period corresponding to the functional module to be tested; The preprocessing module is used to determine whether to preprocess the output data of the candidate module according to the detection result.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement a performance testing method for an advanced driver assistance system as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a performance testing method for an advanced driver assistance system as described in any one of claims 1 to 5 is implemented.

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