Vehicle testing method, device, equipment and storage medium

Abstract

The embodiments of the present application disclose a vehicle testing method, apparatus, equipment and storage medium, which are applied to test vehicles, including: obtaining warning scenario information issued by road-side equipment; wherein the warning scenario information includes background vehicle information and background road information; according to the warning scenario information, determining whether the preset safe driving conditions are met between the test vehicle and the background vehicles; if so, determining whether the preset warning trigger conditions are met between the test vehicle and the target test object; if so, obtaining the current warning result issued by the test vehicle to the target test object; according to the current warning result and the expected warning result, determining whether the test vehicle passes the warning test; if so, controlling the test vehicle to drive according to the warning scenario information and the preset vehicle driving rules; through the above technical scheme, the warning scenario is truly reproduced, and the effectiveness and reliability of the warning algorithm of the test vehicle when there are many vehicles is tested.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of testing technology, and in particular to a vehicle testing method, device, equipment and storage medium. Background Art

[0002] In order to improve the perception ability of cars, allow drivers to better plan routes and avoid collision accidents, V2X (Vehicle-to-Everything, vehicle-to-external information exchange) communication technology came into being. As one of the key technologies for automobile intelligence, V2X technology does not need high-performance sensors to detect the surrounding environment and obtain a large amount of data compared to autonomous driving technology. V2X only needs to obtain other vehicles or traffic facilities to issue collision warnings and inform drivers of congested areas. It can minimize accidents such as scratches and collisions caused by drivers not paying attention to road conditions in time during driving, making the driving process safe and efficient.

[0003] At present, the existing vehicle warning scenario tests include virtual simulation tests and field tests. However, virtual simulation tests are quite different from real road conditions, and many actual driving problems cannot be found; due to considerations such as test cost, safety and operability, field tests generally only simulate two vehicles, lack consideration of background vehicles, and cannot reflect the real road environment.

[0004] It can be seen that the existing warning scenario testing schemes are far from the actual road environment and need to be improved urgently. Summary of the invention

[0005] The present application provides a vehicle testing method, device, equipment and storage medium to realistically reproduce warning scenarios, implement testing of the effectiveness and reliability of a warning algorithm for a test vehicle when there are a large number of vehicles, and reduce field testing costs.

[0006] In a first aspect, an embodiment of the present application provides a vehicle testing method, which is applied to test a vehicle, and the method includes:

[0007] Acquire warning scene information issued by road-side equipment; wherein the warning scene information includes background vehicle information and background road information;

[0008] Determine whether the test vehicle and the background vehicles meet the preset safe driving conditions according to the warning scene information;

[0009] If so, determining whether the test vehicle and the target test object meet the preset warning triggering condition;

[0010] If satisfied, obtaining the current warning result issued by the test vehicle to the target test object;

[0011] Determining whether the test vehicle passes the warning test according to the current warning result and the expected warning result;

[0012] If passed, the test vehicle is controlled to drive according to the warning scenario information and preset vehicle driving rules.

[0013] In a second aspect, an embodiment of the present application provides a vehicle testing method, which is applied to a roadside device, and the method includes:

[0014] Obtaining the test vehicle information sent by the test vehicle and the background road information input by the user;

[0015] Generate background scene information based on the background road information and preset background vehicle information and based on a scene editor in the roadside device;

[0016] Generate a warning scene based on the test vehicle information and the background scene information and based on the scene generator in the roadside device;

[0017] The warning scenario information is sent to the test vehicle via the communication interface.

[0018] In a third aspect, an embodiment of the present application further provides a vehicle testing device, which is configured in a test vehicle, and includes:

[0019] The warning information acquisition module is used to acquire the warning scene information issued by the road-side equipment; wherein the warning scene information includes background vehicle information and background road information;

[0020] A safety status judgment module is used to determine whether the test vehicle and the background vehicles meet the preset safety driving conditions according to the warning scene information;

[0021] A warning condition triggering module is used to determine whether a preset warning triggering condition is satisfied between the test vehicle and the target test object if satisfied;

[0022] A warning result acquisition module, used for acquiring the current warning result issued by the test vehicle to the target test object if the conditions are met;

[0023] A test result determination module, used to determine whether the test vehicle passes the warning test according to the current warning result and the expected warning result;

[0024] The driving module is used to control the test vehicle to drive according to the warning scene information and preset vehicle driving rules if the test vehicle passes.

[0025] In a fourth aspect, an embodiment of the present application further provides a vehicle testing device, which is configured in a road-side device, and the device includes:

[0026] A scene information input module is used to obtain the test vehicle information sent by the test vehicle and the background road information input by the user;

[0027] A scene information editing module, used to generate background scene information based on the scene editor in the road terminal device according to the background road information and preset background vehicle information;

[0028] A warning scene generation module, used to generate a warning scene based on the test vehicle information and the background scene information and based on a scene generator in a road-side device;

[0029] The warning information sending module is used to send warning scenario information to the test vehicle through the communication interface.

[0030] In a fifth aspect, an embodiment of the present application further provides an electronic device, the device comprising:

[0031] one or more processors;

[0032] a storage device for storing one or more programs,

[0033] When the one or more programs are executed by the one or more processors, the one or more processors implement any one of the vehicle testing methods provided in the first aspect or the second aspect embodiments.

[0034] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any one of the vehicle testing methods provided in the embodiments of the first aspect or the second aspect.

[0035] In the embodiment of the present application, the warning scene information issued by the road-side equipment is obtained by the test vehicle; wherein the warning scene information includes background vehicle information and background road information; according to the warning scene information, it is determined whether the preset safe driving conditions are met between the test vehicle and the background vehicle; if so, it is determined whether the preset warning trigger conditions are met between the test vehicle and the target test object; if so, the current warning result issued by the test vehicle to the target test object is obtained; according to the current warning result and the expected warning result, it is determined whether the test vehicle passes the warning test; if passed, the test vehicle is controlled to drive according to the warning scene information and the preset vehicle driving rules. Through the above technical scheme, the warning scene information simulated by the road-side equipment is obtained by the test vehicle, and the background vehicle information and the background road information are obtained at the same time, wherein the background vehicle information includes the background vehicle information of at least one background vehicle, and the warning scene information can more realistically reflect the real road environment. According to the obtained warning scene information, in the warning scene, the test vehicle completes the warning test with the target test object, and realizes the test of the effectiveness and reliability of the warning algorithm of the test vehicle when there are many vehicles, avoiding the use of multiple real vehicles as background vehicles for warning testing at the same time, and reducing the cost of field testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of a vehicle testing method provided in Example 1 of the present application;

[0037] Figure 2 is a flow chart of a vehicle testing method provided in Example 2 of the present application;

[0038] Figure 3 It is a schematic diagram of a test vehicle and a target vehicle performing a warning test provided in Example 2 of the present application;

[0039] Figure 4 This is a schematic diagram of information interaction between a test vehicle and a target vehicle provided in Example 2 of the present application;

[0040] Figure 5 is a flow chart of a vehicle testing method provided in Example 2 of the present application;

[0041] Figure 6 is a flow chart of a vehicle testing method provided in Example 3 of the present application;

[0042] Figure 7 It is a schematic diagram of an OBU simulation module provided in Example 3 of the present application;

[0043] Figure 8 is a schematic diagram of a vehicle testing device provided in Embodiment 4 of the present application;

[0044] Fig. 9 is a schematic diagram of a vehicle testing device provided in Embodiment 5 of the present application;

[0045] Fig.10 This is a schematic diagram of an electronic device provided in Example 6 of the present application. DETAILED DESCRIPTION

[0046] The present application 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 application, rather than to limit the present application. It should also be noted that, for ease of description, only the parts related to the present application, rather than all structures, are shown in the accompanying drawings.

[0047] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0048] Embodiment 1

[0049] Figure 1 A flowchart of a vehicle testing method provided in Embodiment 1 of the present application. Embodiments of the present application may be applicable to the case where a test vehicle performs a warning test based on warning scenario information, wherein the test vehicle is a vehicle to be tested for warning performance, and the test vehicle is an actual vehicle in an outdoor test. The method may be performed by a vehicle testing device, which may be implemented by software and / or hardware, and specifically configured in an electronic device, which may be a mobile terminal or a fixed terminal.

[0050] See also Figure 1 The vehicle testing method provided in the embodiment of the present application is applied to test a vehicle, and includes:

[0051] S110. Obtain warning scene information issued by road-side equipment; wherein the warning scene information includes background vehicle information and background road information.

[0052] In this embodiment, the road-side equipment may include a traffic light simulation module, an RSU (Road Side Unit) simulation module and an OBU (On Board Unit) simulation module.

[0053] Among them, the traffic light simulation module can control the switching and display duration of traffic lights in the warning scenario (also known as the test scenario), such as setting different traffic light states and display durations for different lane lines; the roadside simulation module can adjust roadside information, such as speed limit information, dangerous road section information and depression information; the OBU simulation module can simulate background vehicles and add background vehicles to the warning scenario.

[0054] In this embodiment, the simulated background vehicle is not an actual vehicle, but it can be used as an actual vehicle to exchange information with the test vehicle in the field test, thereby realizing information interaction between real vehicles, which is equivalent to adding communication interference between vehicles to the test environment. There is no need to use multiple actual vehicles as background vehicles to simulate the real road environment in pursuit of real field testing, which makes the testing cost too high.

[0055] In some embodiments, the OBU simulation module can simulate a preset number (eg, 50) of background vehicles at the same time. Specifically, the number of background vehicles in the warning scene can be set according to actual needs.

[0056] Optionally, the background vehicle information includes at least vehicle safety information (Basic Safety Message, BSM), also known as BSM information; the background road information includes at least basic road information and road indication information, wherein the basic road information refers to basic road attribute information, including road width and number of lanes, etc., and the road indication information includes at least one of the following indication information: speed limit information, traffic light information, dangerous road section information and depression information.

[0057] In this embodiment, the background vehicle may send BSM information to the test vehicle while driving, and the test vehicle may simultaneously obtain the BSM information of at least one background vehicle sent by the roadside device.

[0058] It should be noted that during the driving of the test vehicle, the warning scene information can be obtained from the road-side equipment at regular intervals based on preset time intervals; of course, the warning scene information can also be obtained from the road-side equipment in real time according to actual data acquisition needs.

[0059] S120: Determine whether the test vehicle and background vehicles meet preset safe driving conditions based on the warning scene information.

[0060] Among them, the safe driving condition can be whether a safe driving distance is maintained between the test vehicle and the background vehicle. The specific safe driving distance can be pre-set according to actual conditions, such as setting the safe driving distance to 50 meters.

[0061] In some embodiments, different safe driving distances may be set at different speeds.

[0062] Specifically, determining whether the preset safe driving conditions between the test vehicle and the background vehicles are met based on the warning scenario information includes: parsing the background vehicle information based on the background vehicle information in the warning scenario information to obtain BSM information; determining the current driving distance between the test vehicle and the background vehicle based on the BSM information; comparing the current driving distance with the safe driving distance, and when the current driving distance is greater than the safe driving distance, confirming that the preset safe driving conditions between the test vehicle and the background vehicle are met.

[0063] Optionally, if the test vehicle and the background vehicles do not meet the preset safe driving conditions, the test vehicle will not perform subsequent warning tests.

[0064] It is understandable that, during the vehicle warning test, taking the driving status of the background vehicle into consideration can make the warning test of the test vehicle more reasonable and effective.

[0065] S130: If yes, determine whether the test vehicle and the target test object meet the preset warning triggering condition.

[0066] Among them, the warning triggering condition can be that the warning is triggered when the test vehicle is close to the target test object, so as to avoid contact or collision between the test vehicle and the target test object.

[0067] The target test object may be other actual vehicles; or, the target test object may be infrastructure on the road such as a pedestrian zebra crossing or a lane line.

[0068] Specifically, when the target test object is an actual vehicle, the warning scenario is a warning scenario between vehicles (Vehicle to Vehicle, V2V), and the background vehicle can be set through the OBU simulation module in the road-side equipment; when the target test object is the infrastructure on the road, the warning scenario is a warning scenario between vehicles and roads (Vehicle to Infrastructure, V2I), and the roadside equipment information and / or intelligent traffic light information can be set through the traffic light simulation module and RSU simulation module in the road-side equipment.

[0069] In this embodiment, it can be determined whether the preset warning triggering condition is met between the test vehicle and the target test object according to the operation of the sound and light alarm collector in the test vehicle.

[0070] For example, when the test vehicle is close to the target test object, the warning signal on the test vehicle can be collected by the sound and light alarm collector. When it is determined that the warning signal occurs, it can be confirmed that the preset warning trigger conditions are met between the test vehicle and the target test object.

[0071] Optionally, if the test vehicle and the target test object do not satisfy the preset warning triggering conditions, the test vehicle can be controlled to trigger a warning signal according to a preset warning triggering scheme.

[0072] The preset warning triggering scheme can be pre-written based on an automated scripting language and stored in the test vehicle. Of course, the warning signal can also be manually triggered based on the user's driving operation of the test vehicle.

[0073] S140: If satisfied, obtain the current warning result issued by the test vehicle to the target test object.

[0074] In this embodiment, the current warning result may be a warning value, such as a warning time, a warning speed, and a warning distance.

[0075] Optionally, the current warning result may include a current warning type, a current warning level, and a current warning index.

[0076] Among them, the current warning type can be a time warning, a speed warning or a distance warning, etc.; the current warning level can include three warning levels, such as a level 1 mild warning, a level 2 moderate warning and a level 3 severe warning, etc.; the current warning indicator refers to a specific warning indicator value.

[0077] It can be understood that by dividing the current warning result into warning type, warning level and warning indicator, the description of the current warning result is made more accurate.

[0078] S150: Determine whether the test vehicle passes the warning test based on the current warning result and the expected warning result.

[0079] The expected warning result refers to the standard warning result, that is, the accurate warning result that the test vehicle should actually have.

[0080] In this embodiment, when the current warning result is the current warning value and the expected warning result is the expected warning value, the current warning result and the expected warning result can be directly compared. When the current warning result is within the expected error range, it can be confirmed that the test vehicle has passed the warning test; when the current warning result is not within the expected error range, it can be confirmed that the test vehicle has failed the warning test.

[0081] The expected error range may be that the current warning value is greater than the expected warning value, the current warning value is less than the expected warning value, or the relative difference between the current warning value and the expected warning value is less than the preset value range. In this embodiment, the expected error range can be reasonably set according to the actual warning situation.

[0082] Optionally, when the expected warning result includes the expected warning type, the expected warning level and the expected warning indicator, the expected warning result may also include the expected warning type, the expected warning level and the expected warning indicator; accordingly, determining whether the test vehicle has passed the warning test based on the current warning result and the expected warning result includes: comparing the current warning type with the expected warning type, and determining whether there is a target warning type that matches the current warning type in the expected warning type; if so, comparing the current warning level with the expected warning level in the target warning type, and determining whether there is a target warning level that matches the current warning level in the expected warning level; if so, comparing the current warning indicator with the expected warning indicator in the target warning level to determine the comparison result; judging whether the comparison result meets the preset warning standard, and if so, determining that the test vehicle has passed the warning test.

[0083] Among them, the target warning type refers to the correct warning type, the target warning level refers to the correct warning level, the target warning indicator refers to the correct warning indicator; the preset warning standard refers to the allowable warning error range.

[0084] In this embodiment, when there is no target warning type matching the current warning type in the expected warning types, it is confirmed that the test vehicle has not passed the warning test; when there is no target warning level matching the current warning level in the expected warning levels, it is confirmed that the test vehicle has not passed the warning test; when the comparison result does not meet the preset warning standard, it is confirmed that the test vehicle has not passed the warning test.

[0085] It can be understood that by comparing the current warning result and the expected warning result in sequence, an accurate comparison of the warning results is achieved.

[0086] S160: If passed, the test vehicle is controlled to drive according to the warning scenario information and preset vehicle driving rules.

[0087] Among them, the preset vehicle driving rules may be lane switching, deceleration or acceleration, etc.

[0088] In this embodiment, the warning scene information is continuously updated. In order to ensure the driving safety of the test vehicle after the warning test is completed, the subsequent driving of the test vehicle can be controlled according to the warning scene information received in real time by the test vehicle and the preset vehicle driving rules to ensure the safety of the test vehicle.

[0089] In the embodiment of the present application, the warning scene information issued by the road-side equipment is obtained by the test vehicle; wherein the warning scene information includes background vehicle information and background road information; according to the warning scene information, it is determined whether the preset safe driving conditions are met between the test vehicle and the background vehicle; if so, it is determined whether the preset warning trigger conditions are met between the test vehicle and the target test object; if so, the current warning result issued by the test vehicle to the target test object is obtained; according to the current warning result and the expected warning result, it is determined whether the test vehicle passes the warning test; if passed, the test vehicle is controlled to drive according to the warning scene information and the preset vehicle driving rules. Through the above technical scheme, the warning scene information simulated by the road-side equipment is obtained by the test vehicle, and the background vehicle information and the background road information are obtained at the same time, wherein the background vehicle information includes the background vehicle information of at least one background vehicle, and the warning scene information can more realistically reflect the real road environment. According to the obtained warning scene information, in the warning scene, the test vehicle completes the warning test with the target test object, and realizes the test of the effectiveness and reliability of the warning algorithm of the test vehicle when there are many vehicles, avoiding the use of multiple real vehicles as background vehicles for warning testing at the same time, and reducing the cost of field testing.

[0090] Embodiment 2

[0091] Figure 2 A flow chart of a vehicle testing method provided in Embodiment 2 of the present application. This embodiment is an optimization of the above-mentioned scheme based on the above-mentioned embodiment.

[0092] Furthermore, the operation of "obtaining warning scenario information issued by the road-side device" is refined into "determining the test vehicle information of the test vehicle based on the global positioning system information and the carrier phase difference information; sending the test vehicle information to the road-side device, so that the road-side device can generate a warning scenario based on the test vehicle information, preset background vehicle information and background road information; obtaining the warning scenario information issued by the road-side device through the communication interface" to clarify the process of obtaining the warning scenario information.

[0093] The explanations of the terms that are the same as or corresponding to the above embodiments will not be repeated here.

[0094] See also Figure 2 The vehicle testing method provided in this embodiment is applied to testing a vehicle, and includes:

[0095] S210: Determine test vehicle information of the test vehicle according to the global positioning system information and the carrier phase difference information.

[0096] The test vehicle information may include the test vehicle's positioning information, vehicle speed information, and heading angle information.

[0097] The global positioning system information is also known as GPS (Global Positioning System) information, and the carrier phase difference information is also known as RTK (Real-time kinematic) information.

[0098] In this embodiment, a high-precision inertial navigation system is installed in the test vehicle, and the high-precision inertial navigation system is connected to dual antennas to simultaneously receive GPS information and RTK information. The high-precision inertial navigation system has a multi-point measurement function and can measure the acceleration, inclination, angular velocity, lateral speed, and longitudinal speed of the test vehicle.

[0099] Specifically, the test vehicle information of the test vehicle is determined based on the global positioning system information and the carrier phase difference information, including: receiving RTK information sent by the GPS differential base station through the high-precision inertial navigation in the test vehicle; the high-precision inertial navigation receives the GPS information, and corrects the GPS information according to the RTK information; the high-precision inertial navigation collects the speed information and heading angle information of the test vehicle, and uses the speed information, heading angle information and corrected GPS information as the test vehicle information of the test vehicle.

[0100] Among them, the GPS differential base station can send RTK information to the high-precision inertial navigation through wireless transmission.

[0101] It can be understood that by making real-time corrections to the GPS information, centimeter-level positioning accuracy can be achieved, thereby ensuring the accuracy of vehicle measurement data.

[0102] S220: Send the test vehicle information to the road-side device, so that the road-side device can generate a warning scenario according to the test vehicle information, preset background vehicle information and background road information.

[0103] The preset background vehicle information and background road information can be preset according to the test requirements. For example, the preset background vehicle information may include the number of background vehicles, the position of background vehicles, the speed of background vehicles, and the type of background vehicles (such as ambulances, fire trucks, etc.). The preset background road information includes the road position, road type (such as tunnels, elevated roads, main and auxiliary roads, and internal roads, etc.), road width, and the number of lanes in the road.

[0104] In this embodiment, the roadside equipment may include a traffic light simulation module, an RSU (RoadSide Unit) simulation module and an OBU (On Board Unit) simulation module. Among them, through the OBU simulation module, the simulation of background vehicles and background roads can be realized, and the warning scene can be built.

[0105] It can be understood that the roadside device is equivalent to a scenario simulator, which can generate the virtual scenario required for the test vehicle to conduct warning tests according to the scenario construction requirements. After the roadside device generates the warning scenario based on the test vehicle information, the preset background vehicle information and the background road information, the test vehicle can exchange information with the roadside device, just like the test vehicle is in a real test scenario.

[0106] S230. Acquire warning scene information sent by the road-side device through the communication interface; wherein the warning scene information includes background vehicle information and background road information.

[0107] Among them, the communication interface is the external communication channel of the communication unit in the road-end equipment, which can be transmitted through mobile communication networks (3G / 4G / 5G), Bluetooth signals or Wi-Fi (Wireless Fidelity) networks.

[0108] S240: Determine whether the test vehicle and background vehicles meet preset safe driving conditions based on the warning scene information.

[0109] S250: If yes, determine whether the test vehicle and the target test object meet the preset warning triggering condition.

[0110] Optionally, the target test object is a target vehicle; accordingly, determining whether a preset warning trigger condition is satisfied between the test vehicle and the target test object includes: obtaining target vehicle information of the target vehicle; determining position information and relative speed information between the test vehicle and the target vehicle based on the test vehicle information and the target vehicle information; determining a collision time between the test vehicle and the target vehicle based on the position information and the relative speed information; and judging whether the collision time is less than a preset time threshold, and if so, determining that a warning trigger condition is satisfied between the test vehicle and the target vehicle.

[0111] Among them, when the target test object is a target vehicle, the test vehicle performs a V2V warning scenario test.

[0112] In this embodiment, the target vehicle is the same as the test vehicle, that is, an actual vehicle. The target vehicle is also equipped with a high-precision inertial navigation system, and the target vehicle information of the target vehicle can be determined based on the global positioning system information and carrier phase differential information obtained by the target vehicle.

[0113] Optionally, determining the position information and relative speed information between the test vehicle and the target vehicle based on the test vehicle information and the target vehicle information includes: the high-precision inertial navigation in the test vehicle sends the test vehicle information to a dual-target coordinated communication system in the test vehicle; the dual-target coordinated communication system calculates the position information of the two vehicles based on the received test vehicle information and target vehicle information.

[0114] Among them, the dual-target coordinated communication system can arbitrarily specify multiple points on the target vehicle body. When the test vehicle and the target vehicle are close, the data of any point of the test vehicle and the target vehicle can be calculated in real time.

[0115] In this embodiment, the high-precision inertial navigation can send the test vehicle information to the dual-target coordinated communication system through XLAN technology (i.e., a port-based virtual LAN) to ensure low latency, low packet loss rate and long-distance communication; the test vehicle and the target vehicle can communicate through the mobile communication network.

[0116] See also Figure 3 The schematic diagram of a test vehicle and a target vehicle for early warning testing is shown. The dual-target coordinated communication system 1, high-precision inertial navigation 1 and sound and light alarm collector are installed on the test vehicle; the dual-target coordinated communication system 2 and high-precision inertial navigation 2 are installed on the target vehicle; the traffic light simulation module, RSU simulation module and OBU simulation module are installed at the road end. Figure 4 A schematic diagram of information interaction between a test vehicle and a target vehicle is shown, wherein information interaction can be performed between a dual-target coordinated communication system 1 and a dual-target coordinated communication system 2 .

[0117] Optionally, the target test object is a road facility; accordingly, determining whether a preset warning trigger condition is satisfied between the test vehicle and the target test object includes: determining a collision distance between the test vehicle and the road facility based on the test vehicle information and the background road information; and judging whether the collision distance is less than a preset distance threshold, and if so, determining that the test vehicle and the road facility satisfy the warning trigger condition.

[0118] When the target test object is a road facility, the test vehicle performs a V2I warning scenario test. The road facility can be a pre-designated intersection, a designated pedestrian zebra crossing, or a designated lane line.

[0119] Optionally, the collision distance between the test vehicle and the designated road facilities can be calculated by the dual-target coordinated communication system in the test vehicle based on the test vehicle information and road background information received by the dual-target coordinated communication system. For example, the dual-target coordinated communication system can determine the lateral distance between the test vehicle and the designated lane line based on the received GPS data of the edges of multiple lane lines and the test vehicle information.

[0120] See also Figure 5 The flowchart of a vehicle testing method shown in the figure shows an example of the situation of early warning test for V2V scene and V2I scene. When it is determined that the current early warning scene is not a V2V scene, the V2I scene early warning test is performed. Before the early warning test, the parameters of the high-precision inertial navigation and dual-target coordinated communication system in the actual vehicle can also be calibrated to ensure the accuracy of the measurement.

[0121] S260: If satisfied, obtain the current warning result issued by the test vehicle to the target test object.

[0122] S270: Determine whether the test vehicle passes the warning test based on the current warning result and the expected warning result.

[0123] S280: If passed, the test vehicle is controlled to drive according to the warning scenario information and preset vehicle driving rules.

[0124] Based on the above-mentioned embodiments, the embodiments of the present application clarify the process of obtaining the warning scene information, and determine the test vehicle information of the test vehicle according to the global positioning system information and the carrier phase difference information through the test vehicle; send the test vehicle information to the road-side device, so that the road-side device can generate a warning scene according to the test vehicle information, the preset background vehicle information and the background road information; and obtain the warning scene information sent by the road-side device through the communication interface. Through the above-mentioned technical scheme, after the test vehicle sends the test vehicle information to the road-side device, the warning scene information obtained by combining the test vehicle information, the preset background vehicle information and the background road information by obtaining the road-side device makes the test vehicle seem to be in a real test scene, and the warning scene is truly reproduced, so as to achieve the test of the effectiveness and reliability of the warning algorithm of the test vehicle when there are many vehicles, and reduce the test cost.

[0125] Embodiment 3

[0126] Figure 6A flow chart of a vehicle testing method provided for Embodiment 3 of the present application. Embodiments of the present application may be applicable to the situation where warning scene information is generated by a road-side device and a warning test is performed on a test vehicle, wherein the road-side device includes a traffic light simulation module, an RSU simulation module, and an OBU simulation module. The method may be executed by a vehicle testing device, which may be implemented by software and / or hardware and specifically configured in an electronic device, which may be a mobile terminal or a fixed terminal.

[0127] For ease of understanding, the OBU simulation module provided in this embodiment is first described in detail. Figure 7 The schematic diagram of an OBU simulation module shown includes: a scene editor, an interface program, a scene generator and a communication unit.

[0128] The explanations of the terms that are the same as or corresponding to the above embodiments will not be repeated here.

[0129] See also Figure 6 The vehicle testing method provided in this embodiment is applied to a road-side device, and includes:

[0130] S310: Acquire test vehicle information sent by the test vehicle and background road information input by the user.

[0131] The background road information may be input by a user through a remote background management server that manages the road-side equipment.

[0132] Optionally, the background road information may be a road information set, which may include information such as road location, road type, road width and number of lanes; alternatively, the background road information input by the user may be a real road scene video, and the road information set may be determined by extracting road information from the road scene video.

[0133] S320: Generate background scene information based on the scene editor in the road-side device according to the background road information and the preset background vehicle information.

[0134] The background scene information refers to the background scene information integrated with the background road information and the background vehicle information.

[0135] Specifically, the generating of background scene information based on the background road information and the preset background vehicle information based on the scene editor in the road-side device includes: based on the preset background vehicle information and the scene editor in the road-side device, editing the background vehicles in the background road represented by the background road information to generate the background scene information. The editing of the background vehicles in the background road includes at least one of the following: editing the speed of the background vehicles in the background road; editing the speed of the background vehicles in the background road; editing the type of the background vehicles in the background road.

[0136] S330: Generate a warning scene based on the scene generator in the road-side device according to the test vehicle information and the background scene information.

[0137] Continuing to refer to 7, the test vehicle can transmit the test vehicle information to the communication unit in the OBU simulation module through the Wi-Fi network; the communication unit sends the received test vehicle information to the scene generator; the scene generator sends the background road information input by the user to the scene editor through the interface program; the scene editor edits the warning scene according to the preset background vehicle information; the scene editor sends the edited background scene information to the scene generator through the interface program; the scene generator generates a warning scene according to the test vehicle information and the background scene information, and sends the warning scene information to the test vehicle through the communication interface of the communication unit (such as the PC5 interface).

[0138] Among them, the PC5 interface is a terminal-to-terminal direct communication interface introduced in V2X technology.

[0139] S340. Send warning scenario information to the test vehicle through the communication interface.

[0140] The embodiment of the present application obtains the test vehicle information sent by the test vehicle and the background road information input by the user through the road-side device; generates background scene information based on the scene editor in the road-side device according to the background road information and the preset background vehicle information; generates a warning scene based on the scene generator in the road-side device according to the test vehicle information and the background scene information; and sends the warning scene information to the test vehicle through the communication interface. Through the above technical scheme, the road-side device can combine the test vehicle information with the preset background vehicle information and background road information according to the received test vehicle information, simulate the warning scene, and send the warning scene information to the test vehicle through the communication interface, so that the test vehicle seems to be in a real test scene, and the warning scene is truly reproduced, realizing the test of the effectiveness and reliability of the test vehicle warning algorithm when there are many vehicles, and reducing the testing cost.

[0141] Embodiment 4

[0142] Figure 8 Schematic diagram of the structure of a vehicle testing device provided in the fourth embodiment of the present application. Figure 8 A vehicle testing device provided in an embodiment of the present application is configured in a test vehicle, and the device includes: a warning information acquisition module 410, a safety status judgment module 420, a warning condition triggering module 430, a warning result acquisition module 440, a test result determination module 450 and a driving module 460.

[0143] The warning information acquisition module 410 is used to acquire the warning scene information issued by the road-side equipment; wherein the warning scene information includes background vehicle information and background road information;

[0144] A safety state judgment module 420 is used to determine whether the test vehicle and the background vehicles meet the preset safety driving conditions according to the warning scene information;

[0145] The warning condition triggering module 430 is used to determine whether the preset warning triggering condition is satisfied between the test vehicle and the target test object if satisfied;

[0146] The warning result acquisition module 440 is used to obtain the current warning result issued by the test vehicle to the target test object if the conditions are met;

[0147] A test result determination module 450, for determining whether the test vehicle passes the warning test according to the current warning result and the expected warning result;

[0148] The driving module 460 is used to control the test vehicle to drive according to the warning scene information and preset vehicle driving rules if the test vehicle passes.

[0149] In the embodiment of the present application, the warning scene information issued by the road-side equipment is obtained by the test vehicle; wherein the warning scene information includes background vehicle information and background road information; according to the warning scene information, it is determined whether the preset safe driving conditions are met between the test vehicle and the background vehicle; if so, it is determined whether the preset warning trigger conditions are met between the test vehicle and the target test object; if so, the current warning result issued by the test vehicle to the target test object is obtained; according to the current warning result and the expected warning result, it is determined whether the test vehicle passes the warning test; if passed, the test vehicle is controlled to drive according to the warning scene information and the preset vehicle driving rules. Through the above technical scheme, the warning scene information simulated by the road-side equipment is obtained by the test vehicle, and the background vehicle information and the background road information are obtained at the same time, wherein the background vehicle information includes the background vehicle information of at least one background vehicle, and the warning scene information can more realistically reflect the real road environment. According to the obtained warning scene information, in the warning scene, the test vehicle completes the warning test with the target test object, and realizes the test of the effectiveness and reliability of the warning algorithm of the test vehicle when there are many vehicles, avoiding the use of multiple real vehicles as background vehicles for warning testing at the same time, and reducing the cost of field testing.

[0150] Furthermore, the warning information acquisition module 410 includes:

[0151] A vehicle information sending unit, used to determine the test vehicle information of the test vehicle according to the global positioning system information and the carrier phase difference information;

[0152] A warning scenario generating unit, used to send the test vehicle information to the road-side device, so that the road-side device generates a warning scenario according to the test vehicle information, preset background vehicle information and background road information;

[0153] The warning information acquisition unit is used to obtain the warning scene information sent by the road-side equipment through the communication interface.

[0154] Further, the target test object is a target vehicle; accordingly, the warning condition triggering module 430 includes:

[0155] A vehicle information acquisition unit, used to acquire target vehicle information of the target vehicle;

[0156] A relative position information determining unit, used to determine the position information and relative speed information between the test vehicle and the target vehicle according to the test vehicle information and the target vehicle information;

[0157] a collision time determination unit, configured to determine a collision time between the test vehicle and the target vehicle according to the position information and the relative speed information;

[0158] The vehicle warning trigger unit is used to determine whether the collision time is less than a preset time threshold, and if so, determine that the warning trigger condition is met between the test vehicle and the target vehicle.

[0159] Further, the current warning result includes the current warning type, the current warning level and the current warning index, and the expected warning result includes the expected warning type, the expected warning level and the expected warning index; accordingly, the test result determination module 440 includes:

[0160] a warning type matching unit, configured to compare the current warning type with the expected warning type, and determine whether there is a target warning type matching the current warning type in the expected warning type;

[0161] a warning level matching unit, for comparing the current warning level with the expected warning level in the target warning type, if any, to determine whether there is a target warning level in the expected warning level that matches the current warning level;

[0162] a comparison result determination unit, for comparing the current warning indicator with the expected warning indicator in the target warning level, if any, to determine a comparison result;

[0163] The test result determination unit is used to determine whether the comparison result meets a preset warning standard, and if so, determine that the test vehicle has passed the warning test.

[0164] Further, the target test object is a road facility; accordingly, the warning condition triggering module 430 includes:

[0165] A collision distance determination unit, configured to determine a collision distance between the test vehicle and the road facility according to the test vehicle information and the background road information;

[0166] The road warning trigger unit is used to determine whether the collision distance is less than a preset distance threshold, and if so, determine that the test vehicle and the road facilities meet the warning trigger condition.

[0167] The vehicle testing device provided in the embodiments of the present application can execute the vehicle testing method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

[0168] Embodiment 5

[0169] Fig. 9 Schematic diagram of the structure of a vehicle testing device provided in Example 5 of the present application. Fig. 9A vehicle testing device provided in an embodiment of the present application is configured in a road-side device, and the device includes: a scene information input module 510, a scene information editing module 520, a warning scene generation module 530 and a warning information sending module 540.

[0170] A scene information input module 510 is used to obtain the test vehicle information sent by the test vehicle and the background road information input by the user;

[0171] A scene information editing module 520, configured to generate background scene information based on the scene editor in the roadside device according to the background road information and preset background vehicle information;

[0172] A warning scene generation module 530, configured to generate a warning scene based on the test vehicle information and the background scene information and based on a scene generator in a road-side device;

[0173] The warning information sending module 540 is used to send warning scenario information to the test vehicle through the communication interface.

[0174] The embodiment of the present application obtains the test vehicle information sent by the test vehicle and the background road information input by the user through the road-side device; generates background scene information based on the scene editor in the road-side device according to the background road information and the preset background vehicle information; generates a warning scene based on the scene generator in the road-side device according to the test vehicle information and the background scene information; and sends the warning scene information to the test vehicle through the communication interface. Through the above technical scheme, the road-side device can combine the test vehicle information with the preset background vehicle information and background road information according to the received test vehicle information, simulate the warning scene, and send the warning scene information to the test vehicle through the communication interface, so that the test vehicle seems to be in a real test scene, and the warning scene is truly reproduced, realizing the test of the effectiveness and reliability of the test vehicle warning algorithm when there are many vehicles, and reducing the testing cost.

[0175] The vehicle testing device provided in the embodiments of the present application can execute the vehicle testing method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

[0176] Embodiment 6

[0177] Fig.10 This is a structural diagram of an electronic device provided in Example 6 of the present application. Fig.10 A block diagram of an exemplary electronic device 612 suitable for implementing embodiments of the present application is shown. Fig.10 The electronic device 612 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0178] like Fig.10 As shown, the electronic device 612 is in the form of a general purpose computing device. The components of the electronic device 612 may include, but are not limited to: one or more processors or processing units 616, a system memory 628, and a bus 618 connecting different system components (including the system memory 628 and the processing unit 616).

[0179] Bus 618 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0180] The electronic device 612 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 612, including volatile and non-volatile media, removable and non-removable media.

[0181] The system memory 628 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 630 and / or cache memory 632. The electronic device 612 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 634 may be used to read and write non-removable, non-volatile magnetic media ( Fig.10 not shown, usually called a "hard drive"). Although Fig.10 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 618 via one or more data medium interfaces. System memory 628 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0182] A program / utility 640 having a set (at least one) of program modules 642 may be stored, for example, in system memory 628, such program modules 642 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 642 generally perform the functions and / or methods of the embodiments described herein.

[0183] The electronic device 612 may also communicate with one or more external devices 614 (e.g., keyboards, pointing devices, displays 624, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 612, and / or may communicate with any device that enables the electronic device 612 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface 622. Furthermore, the electronic device 612 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 620. As shown, the network adapter 620 communicates with other modules of the electronic device 612 via a bus 618. It should be understood that although Fig.10 Not shown, other hardware and / or software modules may be used in conjunction with electronic device 612, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0184] The processing unit 616 executes various functional applications and data processing by running at least one of the other programs among the multiple programs stored in the system memory 628, such as implementing any vehicle testing method provided in the embodiments of the present application.

[0185] Embodiment 7

[0186] Embodiment 7 of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a vehicle testing method provided by any embodiment of the present invention is implemented, and the method is applied to a test vehicle, the method comprising: obtaining warning scene information issued by a road-end device; wherein the warning scene information comprises background vehicle information and background road information; according to the warning scene information, determining whether a preset safe driving condition is satisfied between the test vehicle and the background vehicle; if satisfied, determining whether a preset warning trigger condition is satisfied between the test vehicle and the target test object; if satisfied, obtaining a current warning result issued by the test vehicle to the target test object; according to the current warning result and the expected warning result, determining whether the test vehicle passes the warning test; if passed, controlling the test vehicle to drive according to the warning scene information and preset vehicle driving rules.

[0187] An embodiment of the present invention also provides another computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, a vehicle testing method provided by any embodiment of the present invention is implemented, which is applied to a road-side device. The method includes: obtaining test vehicle information sent by the test vehicle and background road information input by a user; generating background scene information based on a scene editor in the road-side device according to the background road information and preset background vehicle information; generating a warning scene based on a scene generator in the road-side device according to the test vehicle information and the background scene information; and sending the warning scene information to the test vehicle through a communication interface.

[0188] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present application can be implemented with the help of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0189] It is worth noting that in the embodiment of the above-mentioned vehicle testing device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0190] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A vehicle testing method, characterized in that: Applied to test vehicles, including: Acquire warning scene information issued by road-side equipment; wherein the warning scene information includes background vehicle information and background road information; Determine whether the test vehicle and the background vehicles meet the preset safe driving conditions according to the warning scene information; If so, determining whether the test vehicle and the target test object meet the preset warning triggering condition; If satisfied, obtaining the current warning result issued by the test vehicle to the target test object; Determining whether the test vehicle passes the warning test according to the current warning result and the expected warning result; If passed, the test vehicle is controlled to drive according to the warning scene information and preset vehicle driving rules; The current warning result includes the current warning type, the current warning level and the current warning index, and the expected warning result includes the expected warning type, the expected warning level and the expected warning index; Accordingly, determining whether the test vehicle passes the warning test according to the current warning result and the expected warning result includes: Comparing the current warning type with the expected warning type to determine whether there is a target warning type matching the current warning type in the expected warning type; If so, comparing the current warning level with the expected warning level in the target warning type to determine whether there is a target warning level in the expected warning level that matches the current warning level; If so, comparing the current warning indicator with the expected warning indicator in the target warning level to determine a comparison result; Determining whether the comparison result meets a preset warning standard, and if so, determining that the test vehicle passes the warning test; The roadside equipment includes a vehicle-mounted unit simulation module, which can simulate a preset number of background vehicles at the same time and add the background vehicles to the warning scene; The obtaining of warning scene information issued by the road-side equipment includes: Determining test vehicle information of the test vehicle according to the global positioning system information and the carrier phase difference information; Sending the test vehicle information to the road-side device, so that the road-side device generates a warning scenario according to the test vehicle information, preset background vehicle information and background road information; Obtaining warning scene information sent by the road-end device through the communication interface; Determining the test vehicle information of the test vehicle according to the global positioning system information and the carrier phase differential information includes: receiving the carrier phase differential information sent by the global positioning system differential base station through the high-precision inertial navigation in the test vehicle; the high-precision inertial navigation receives the global positioning system information, and corrects the global positioning system information according to the carrier phase differential information; the high-precision inertial navigation collects the speed information and the heading angle information of the test vehicle, and uses the speed information, the heading angle information and the corrected global positioning system information as the test vehicle information of the test vehicle; Wherein, the target test object includes a target vehicle; the test vehicle and the target vehicle are actual vehicles.

2. The method according to claim 1, characterized in that: The target test object is a target vehicle; Accordingly, the step of determining whether a preset warning triggering condition is satisfied between the test vehicle and the target test object includes: Acquire target vehicle information of the target vehicle; Determine the position information and relative speed information between the test vehicle and the target vehicle according to the test vehicle information and the target vehicle information; Determining a collision time between the test vehicle and the target vehicle according to the position information and the relative speed information; It is determined whether the collision time is less than a preset time threshold, and if so, it is determined that a warning trigger condition is satisfied between the test vehicle and the target vehicle.

3. A vehicle testing method, characterized in that: Applied to roadside equipment, including: Obtaining the test vehicle information sent by the test vehicle and the background road information input by the user; Generate background scene information based on the background road information and preset background vehicle information and based on a scene editor in the roadside device; Generate a warning scene based on the test vehicle information and the background scene information and based on the scene generator in the roadside device; Sending warning scenario information to the test vehicle via a communication interface; The roadside equipment includes a vehicle-mounted unit simulation module, which can simulate a preset number of background vehicles at the same time and add the background vehicles to the warning scene; The test vehicle information is determined based on the global positioning system information and the carrier phase differential information, and the determination process includes: receiving the carrier phase differential information sent by the global positioning system differential base station through the high-precision inertial navigation in the test vehicle; the high-precision inertial navigation receives the global positioning system information, and corrects the global positioning system information according to the carrier phase differential information; the high-precision inertial navigation collects the speed information and heading angle information of the test vehicle, and uses the speed information, heading angle information and the corrected global positioning system information as the test vehicle information of the test vehicle; Among them, the warning scenario information is used to perform a warning test on the test vehicle, and the test process includes: determining whether the preset safe driving conditions are met between the test vehicle and the background vehicle; if so, determining whether the preset warning trigger conditions are met between the test vehicle and the target test object; wherein, the target test object includes a target vehicle; the test vehicle and the target vehicle are actual vehicles.

4. A vehicle testing device, characterized in that: Configured in the test vehicle, including: The warning information acquisition module is used to acquire the warning scene information issued by the road-side equipment; wherein the warning scene information includes background vehicle information and background road information; A safety status judgment module is used to determine whether the test vehicle and the background vehicles meet the preset safety driving conditions according to the warning scene information; A warning condition triggering module is used to determine whether a preset warning triggering condition is satisfied between the test vehicle and the target test object if satisfied; A warning result acquisition module, used for acquiring the current warning result issued by the test vehicle to the target test object if the conditions are met; A test result determination module, used to determine whether the test vehicle passes the warning test according to the current warning result and the expected warning result; A driving module, used for controlling the test vehicle to drive according to the warning scene information and preset vehicle driving rules if the test vehicle passes the warning scene; The current warning result includes the current warning type, the current warning level and the current warning index, and the expected warning result includes the expected warning type, the expected warning level and the expected warning index The test result determination module comprises: a warning type matching unit, configured to compare the current warning type with the expected warning type, and determine whether there is a target warning type matching the current warning type in the expected warning type; a warning level matching unit, for comparing the current warning level with the expected warning level in the target warning type, if any, to determine whether there is a target warning level in the expected warning level that matches the current warning level; a comparison result determination unit, for comparing the current warning indicator with the expected warning indicator in the target warning level, if any, to determine a comparison result; a test result determination unit, used to determine whether the comparison result meets a preset warning standard, and if so, determine that the test vehicle has passed the warning test; The background vehicles are simulated by the on-board unit simulation module in the roadside device. The on-board unit simulation module can simulate a preset number of background vehicles at the same time and add the background vehicles to the warning scene; The early warning information acquisition module includes: A vehicle information sending unit; used to determine the test vehicle information of the test vehicle according to the global positioning system information and the carrier phase difference information; specifically used to receive the carrier phase difference information sent by the global positioning system difference base station through the high-precision inertial navigation in the test vehicle; the high-precision inertial navigation receives the global positioning system information, and corrects the global positioning system information according to the carrier phase difference information; the high-precision inertial navigation collects the speed information and heading angle information of the test vehicle, and uses the speed information, heading angle information and corrected global positioning system information as the test vehicle information of the test vehicle; A warning scenario generating unit, used to send the test vehicle information to the road-side device, so that the road-side device generates a warning scenario according to the test vehicle information, preset background vehicle information and background road information; A warning scene information acquisition unit, used to acquire the warning scene information sent by the road-side device through the communication interface; Wherein, the target test object includes a target vehicle; the test vehicle and the target vehicle are actual vehicles.

5. A vehicle testing device, characterized in that: Configured in road-side equipment, including: A scene information input module is used to obtain the test vehicle information sent by the test vehicle and the background road information input by the user; A scene information editing module, used to generate background scene information based on the scene editor in the road terminal device according to the background road information and preset background vehicle information; A warning scene generation module, used to generate a warning scene based on the test vehicle information and the background scene information and based on a scene generator in a road-side device; A warning information sending module, used to send warning scenario information to the test vehicle through a communication interface; The vehicle-mounted unit simulation module is used to simulate a preset number of background vehicles at the same time and add the background vehicles to the warning scene; The test vehicle information is determined based on the global positioning system information and the carrier phase differential information, and the determination process includes: receiving the carrier phase differential information sent by the global positioning system differential base station through the high-precision inertial navigation in the test vehicle; the high-precision inertial navigation receives the global positioning system information, and corrects the global positioning system information according to the carrier phase differential information; the high-precision inertial navigation collects the speed information and heading angle information of the test vehicle, and uses the speed information, heading angle information and the corrected global positioning system information as the test vehicle information of the test vehicle; Among them, the warning scenario information is used to perform a warning test on the test vehicle, and the test process includes: determining whether the preset safe driving conditions are met between the test vehicle and the background vehicle; if so, determining whether the preset warning trigger conditions are met between the test vehicle and the target test object; wherein, the target test object includes a target vehicle; the test vehicle and the target vehicle are actual vehicles.

6. An electronic device, characterized in that: include: one or more processors; a storage device 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 vehicle testing method as described in any one of claims 1-2 or 3.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a vehicle testing method according to any one of claims 1 to 2 or 3 is implemented.

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