Vehicle hardware-in-the-loop test system, method, vehicle, and storage medium

Abstract

This invention includes a vehicle hardware simulation testing system, a method, a vehicle, and a storage medium. The vehicle hardware simulation testing system includes: a test data generation unit configured to generate simulated test data about a test scenario; a test management unit configured to generate and manage test tasks based on the simulated test data; and a test bench configured to control the simulation equipment, the device under test, and test instruments based on the test tasks, wherein the simulation equipment generates a network environment for vehicle hardware simulation testing based on the simulated test data.

Description

Technical Field

[0001] This invention relates to the field of automotive testing technology. Specifically, it relates to vehicle hardware simulation testing systems, methods, vehicles, and storage media. Background Technology

[0002] Currently, most V2X (vehicle to everything) scenario testing solutions for intelligent vehicles are implemented by using instruments that support the V2X ITS (Intelligent Transportation System) protocol stack, in conjunction with traffic simulation software.

[0003] Most such test solutions rely on a direct connection between the instrument and the DUT (Device Under Testing) feeder, which cannot achieve a stable V2X air interface connection and therefore typically cannot cover V2X air interface testing. Furthermore, a single instrument in such a test solution usually only uses one V2X ITS protocol stack; if conformance testing of other protocol stacks is required, a customized test bench or a new test bench may need to be purchased.

[0004] On another front, existing automated CICD (Continuous Integration, Continuous Delivery, Continuous Deployment) systems face challenges in interfacing with various enterprise testing platforms; they require significant investment in hardware such as instruments and cannot be used by multiple test benches simultaneously. Furthermore, each test bench typically requires a separate traffic scenario simulation software for operation, resulting in a high dependence on the simulation software and hindering cluster testing. Summary of the Invention

[0005] According to one aspect of the present invention, a vehicle hardware simulation testing system is provided, comprising: a test data generation unit configured to generate simulated test data about a test scenario; a test management unit configured to generate and manage test tasks based on the simulated test data; and a test bench configured to control a simulation device, a device under test, and test instruments based on the test tasks, wherein the simulation device generates a network environment for vehicle hardware simulation testing based on the simulated test data.

[0006] As an alternative or supplement to the above solutions, in a vehicle hardware simulation test system according to an embodiment of the present invention, the test management unit is further configured to manage multiple test benches and test tasks.

[0007] As an alternative or supplement to the above solutions, in a vehicle hardware simulation test system according to an embodiment of the present invention, the simulation test data includes vehicle model data and scene model data.

[0008] As an alternative or supplement to the above solutions, in a vehicle hardware simulation test system according to an embodiment of the present invention, the generated simulation test data is stored in a storage device used as a test scenario library.

[0009] As an alternative or supplement to the above solutions, in a vehicle hardware simulation test system according to an embodiment of the present invention, the test management unit is further configured to generate and manage test tasks based on simulation test data obtained from a test scenario library.

[0010] As an alternative or supplement to the above solutions, in a vehicle hardware simulation test system according to an embodiment of the present invention, the test management unit is further configured to perform at least one of the following: test set management, test task management, test report management, bench configuration management, test log management, scenario configuration management, test script management, and account management.

[0011] According to another aspect of the present invention, a vehicle hardware simulation testing method is provided, comprising the following steps: a test data generation step, generating simulated test data about a test scenario; a test management step, generating and managing test tasks based on the simulated test data; and a test execution step, using a test bench and based on the test tasks to control a simulation device, a device under test, and test instruments, wherein the simulation device generates a network environment for vehicle hardware simulation testing based on the simulated test data.

[0012] As an alternative or supplement to the above solutions, in a vehicle hardware simulation testing method according to an embodiment of the present invention, the test management step further includes managing multiple test benches and test tasks.

[0013] As an alternative or supplement to the above solutions, in a vehicle hardware simulation testing method according to an embodiment of the present invention, the simulation test data includes vehicle model data and scene model data.

[0014] As an alternative or supplement to the above solutions, a vehicle hardware simulation testing method according to an embodiment of the present invention further includes: storing the generated simulation test data in a storage device used as a test scenario library.

[0015] As an alternative or supplement to the above solutions, in a vehicle hardware simulation testing method according to an embodiment of the present invention, the test management step further includes: generating and managing test tasks based on simulation test data obtained from a test scenario library.

[0016] As an alternative or supplement to the above solutions, in a vehicle hardware simulation testing method according to an embodiment of the present invention, the test management step further includes at least one of the following: test set management, test task management, test report management, bench configuration management, test log management, scenario configuration management, test script management, and account management.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided having program instructions stored thereon that are executable by a processor, the program instructions, when executed by the processor, perform the vehicle hardware simulation test method according to one aspect of the present invention.

[0018] According to another aspect of the present invention, a vehicle is provided, which includes the vehicle hardware simulation test system described in one aspect of the present invention.

[0019] The vehicle hardware simulation testing method and system according to embodiments of the present invention can flexibly and efficiently realize clustered V2X vehicle hardware scenario testing. Attached Figure Description

[0020] The above and / or other aspects and advantages of the present invention will become clearer and more readily understood from the following description taken in conjunction with the accompanying drawings, in which like or similar elements are denoted by the same reference numerals. The drawings include:

[0021] Figure 1 A V2X scenario simulation test architecture is shown;

[0022] Figure 2 The figure shows a schematic structural block diagram of a vehicle hardware simulation test system according to an embodiment of the present invention;

[0023] Figure 3 The figure illustrates a schematic structural block diagram of a vehicle hardware-in-the-loop (V2X) scenario testing system according to an embodiment of the present invention.

[0024] Figure 4 The figure illustrates a schematic structural block diagram of a vehicle hardware-in-the-loop (V2X) scenario testing system according to an embodiment of the present invention.

[0025] Figure 5 The diagram illustrates a test bench hardware network topology according to an embodiment of the present invention; and

[0026] Figure 6 A schematic flowchart of a vehicle hardware simulation testing method according to an embodiment of the present invention is shown. Detailed Implementation

[0027] In this specification, the invention is described more fully with reference to the accompanying drawings, which illustrate exemplary embodiments of the invention. However, the invention may be implemented in various forms and should not be construed as being limited to the embodiments given herein. The given embodiments are intended to make the disclosure herein complete and thorough, so as to more fully convey the scope of protection of the invention to those skilled in the art.

[0028] Terms such as "comprising" and "containing" indicate that, in addition to the units and steps directly and explicitly stated in the specification and claims, the technical solution of the present invention does not exclude the presence of other units and steps not directly or explicitly stated. Terms such as "first" and "second" do not indicate the order of the units in terms of time, space, size, etc., but are merely used to distinguish the units.

[0029] The invention is described below with reference to flowchart illustrations, block diagrams, and / or flowcharts of methods and systems according to embodiments of the invention. It will be understood that each block of these flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to form a machine such that these instructions, executable by the processor of the computer or other programmable data processing apparatus, create components for implementing the functions / operations specified in these flowchart illustrations and / or blocks and / or one or more flowchart illustrations. It should also be noted that in some alternative implementations, the functions / operations shown in the blocks may not occur in the order shown in the flowchart. For example, two blocks shown sequentially may actually be executed substantially simultaneously, or these blocks may sometimes be executed in reverse order, depending on the functions / operations involved.

[0030] Where applicable, the various embodiments provided by this disclosure may be implemented using hardware, software, or a combination of hardware and software. Additionally, where applicable, without departing from the scope of this disclosure, the various hardware and / or software components described herein may be combined into composite components comprising software, hardware, and / or both. Where applicable, without departing from the scope of this disclosure, the various hardware and / or software components described herein may be separated into sub-components comprising software, hardware, or both. Furthermore, where applicable, it is contemplated that software components may be implemented as hardware components, and vice versa.

[0031] Figure 1A V2X scenario simulation test architecture 100 is illustrated. Simulation test data is generated by a host computer loaded with test programs and distributed via network cables and switches to remote vehicle simulation equipment (e.g., OBU, i.e., On-Board Unit), simulated roadside units (RSU), GNSS (Global Navigation Satellite System) / wireless channel simulation modules, and the device under test (DUT) in the vehicle, etc., within the physical test environment. Furthermore, the DUT can also be directly connected to the test programs via a serial port, wirelessly connected to the remote vehicle simulation equipment via a PC5 interface, and connected to the GNSS / wireless channel simulation module via a feeder cable.

[0032] Figure 2 A schematic structural block diagram of a vehicle hardware simulation testing system 200 according to an embodiment of the present invention is shown. The system 200 may include a test data generation unit 210, a test management unit 220, and one or more test benches 230 (e.g., 230-1, 230-2, 230-3, etc.). Although Figure 2 Only three test benches are shown in the figure, but more or fewer test benches can be set up as needed according to the present invention. Figure 3 A schematic structural block diagram of a vehicle hardware-in-the-loop (V2X) scenario testing system 300 according to an embodiment of the present invention is shown. The following is in conjunction with... Figure 2 and Figure 3 A vehicle hardware simulation test system 200 according to an embodiment of the present invention will be described.

[0033] The test data generation unit 210 can be configured to generate simulated test data about the test scenario. For example, the test data generation unit 210 can be as follows: Figure 3 The cloud-based scenario system 310 shown herein includes a simulation test data module that can specifically generate the simulation test data. In one embodiment, the test data generation unit 210 is open-source scenario simulation software. The cloud-based scenario system 310 can generate scenario data to construct different V2X test scenarios based on different traffic scenario simulation software. Furthermore, the cloud-based scenario system 310 may also include a storage device serving as a test scenario library for storing generated simulation test data (e.g., V2X message datasets) for use by test cases during subsequent execution. Because the simulation test data for the test scenarios is centrally generated in the cloud, test execution is driven by the generated data rather than the software itself. Therefore, multiple test benches can simultaneously perform V2X scenario testing using the cloud-generated simulation test data, eliminating the need to equip each test bench with its own scenario simulation software, thus facilitating the implementation of customized test scenarios and clustered testing.

[0034] The test management unit 220 can be configured to generate and manage test tasks based on simulated test data. For example, the test management unit 220 can be as follows: Figure 3 The test management platform 320 shown is described in one embodiment. In general, the test management platform 320 can perform test management, scenario management, and bench management. Specifically, the test management platform 320 can perform test case management, test task management, scenario library management, and bench management as needed. In one embodiment, the test management platform 320 can add or remove management services according to the actual application scenario, thereby achieving cluster testing and efficient scheduling and management.

[0035] Test bench 230 or Figure 3 The test benches 330-1, 330-2, and 330-3 shown are configured to control the simulation equipment, the device under test (DUT), and test instruments based on the test task. The simulation equipment generates a network environment for the vehicle hardware simulation test based on the simulated test data. For example, test bench 230 can be a test application that works in conjunction with the test data generation unit to drive real or simulated OBU / RSU / DUT and necessary instruments (e.g., GNSS signal generator, wireless channel simulation module, etc.) to achieve hardware-in-the-loop testing of the DUT in a V2X scenario. Wireless connection between the test instruments and the DUT facilitates air interface communication between the DUT and the outside world, further facilitating V2X air interface testing.

[0036] Currently, the cost of a real OBU / RSU is around 20,000 yuan per unit, and a test bench can cost nearly 200,000 yuan. Furthermore, mainstream testing methods use instruments including GNSS signal generators, integrated test instruments costing around 1-2 million yuan, and commercial simulation software costing around 300,000 yuan. In the embodiments of the present invention, simulating OBU and RSU scenarios is achieved through a hardware V2X box. Since it does not require a real OBU or RSU, or a customized OBU / RSU, the testing system according to the embodiments of the present invention has lower hardware costs and higher cost-effectiveness, and can be deployed quickly. In the method of the embodiments of the present invention, using open-source simulation software instead of commercial simulation software can significantly reduce costs.

[0037] For example, the V2X Box can generate corresponding interaction information between the simulated OBU / RSU and the device under test by receiving information from various traffic participants (vehicles, roadside facilities, etc.) in the simulated test scenario from the test management unit 220. The test system can realize air interface communication between the simulated device and the DUT by driving the V2X Box and the DUT respectively, thereby realizing real air interface communication without feeder connection in hardware-in-the-loop scenario testing.

[0038] Furthermore, through the aforementioned test management unit 220, multiple test benches 230 or 330 can be centrally managed and scheduled, facilitating clustered testing of the device under test (DUT). Test scripts can be deployed on the test bench 230 and can retrieve corresponding V2X message data from the test scenario library of the cloud scenario system 310 according to different test cases to drive test equipment (e.g., test instruments, simulated devices such as OBU / RSU implemented by V2X Box), and the V2X functionality of the DUT can be verified through scenario playback.

[0039] Next, refer to Figure 4 To illustrate a more specific structure of the vehicle hardware-in-the-loop (V2X) scenario testing system 400 according to an embodiment of the present invention. Figure 4 In the illustrated embodiment, the cloud-based scenario system 410 includes a scenario simulation module and a scenario test library. The scenario simulation module can be configured to generate vehicle models and scenario models (e.g., to perform V2X traffic scenario simulation). During the generation of the scenario model, the scenario simulation module can use the traffic scenario simulation module to extract relevant simulation test data (e.g., message sets) for RVs (Remote Vehicles), HVs (Host Vehicles), and RSUs by constructing virtual scenarios, and can store this data in the test scenario library.

[0040] Correspondingly, the test scenario library can store relevant simulated test data for RV / HV / RSU vehicles based on different scenarios and configurations. Storing simulated test data not only facilitates its use by the test management unit and test benches in subsequent testing processes, but also allows it to be used in other testing processes, such as testing the same vehicle model or the same scenario model. By reusing already generated simulated test data, the computational workload of the system can be reduced, lowering the requirements for system computing power.

[0041] In one implementation, the test management platform 420 can perform functions such as test set management, test task management, test report management, bench configuration management, centralized test log management, scenario configuration management, account management, and test script management. Test set management can be test case management, including test steps, test checkpoints, and basic configuration information. Test task management can include test task scheduling and test status monitoring. Test report management includes test report summarization and statistics, and provides basic information such as steps and logs. Bench configuration management enables centralized management of benches, including management of basic information such as bench on / off status, bench configuration, and status, serving as the basis for test task scheduling. Centralized test log management enables centralized management of test logs for each bench, facilitating test analysis. Scenario configuration management displays basic information about each scenario in the scenario library. Account management includes login / logout and permission management for the test management platform. Test script management allows selection of test script library branches, which can be used for bench script deployment and test execution at various development stages.

[0042] With a defined interface, the test system according to embodiments of the present invention can be compatible with various V2X boxes, rather than supporting only a single V2X box, and can quickly switch between test scenarios and ITS protocol stacks of test suites through simple configuration. Furthermore, the test system can utilize rich driver and configuration interfaces to achieve flexible CICD interface deployment, facilitating functions such as test configuration, bench configuration management, test scheduling, notification of test results to mobile terminals, and test reporting.

[0043] exist Figure 4 In the illustrated embodiment, the test bench 430 may include a software-based test framework and hardware-based test equipment. In one embodiment, the test framework may include a test framework service, test scheduling and upper-layer interfaces, as well as devices and lower-layer drivers. The test equipment may include test instruments and simulation devices.

[0044] Specifically, in one embodiment, the test framework service may include: test configuration, which can parse test data and configure the test environment according to the assigned test tasks; bench status monitoring, which can perform bench status collection and report the collected bench status to the test management platform as the data source for the bench configuration management module of the test management platform; test status monitoring, which includes monitoring test progress, execution status, etc.; and test log monitoring, which can push test logs to the test management platform for the test management platform to view test logs in real time. At the same time, logs from the device under test and the simulated device can be collected by test case and stored in the test management platform (log server).

[0045] In one embodiment, test scheduling and upper-layer interfaces may include: test scheduling, which can be used for scheduling test suites, test cases, test steps, and checkpoint determination; test log management, which can be used for generating and collecting test logs and runtime logs; SDK (Software Development Kit), which can be used as the execution unit of test steps for upper-layer interfaces such as simulation devices and devices under test; and clock synchronization, which can realize clock synchronization between various simulation devices, devices under test, and test instruments to meet the clock synchronization requirements in V2X scenario testing.

[0046] In one embodiment, the device and underlying driver may include: a device driver, which can implement the underlying drivers for various simulation devices, devices under test, and test instruments, and implement functions such as real-time injection of V2X message sets, GNSS data, clocks, etc.; a test API (Application Programming Interface), which may include underlying test interfaces such as logger, ssh, telnet, serial, etc.; a test management platform API, which may include interfaces with the test management platform, such as interfaces required to report test reports, test logs, bench status, etc. to the test platform (e.g., RESTful, socket, MQTT, etc.); and a scenario simulation API, which can be used for real-time rendering with scenario simulation software during test execution, and for real-time rendering with simulation software using real-time data such as RV / HV / RSU.

[0047] In one embodiment, the test equipment may include: test instruments, such as remotely controllable instruments like GNSS signal generators; OBU / RSU: such as a V2X box, which can be used to receive V2X message sets from other parts of the test system and to enable PC5 communication with the device under test in accordance with the V2X test scenario.

[0048] Using the vehicle hardware-in-the-loop V2X scenario test system 400 according to an embodiment of the present invention, which includes one or more of the above-mentioned components, the device under test (DUT) can receive GNSS data, CAN / Eth (Controller Area Network / Ethernet) signals converted from the BSM (Basic Safety Message) dataset of the V2X scenario library HV, and PC5 messages from the test equipment, enabling V2X scenario testing from the upper-layer application of the DUT to the V2X ITS protocol stack to notification messages.

[0049] Figure 5 The illustration shows a schematic diagram of the hardware network topology of a test bench according to an embodiment of the present invention. Figure 5In this process, a V2X message stream is generated from the test scenario library and sent to the test management unit for scheduling and to the test bench for driving. The test management unit sends equipment control signals to the test instruments on the test bench and sends V2X message sets to other vehicles and RSU simulation equipment. The device under test receives GNSS and other messages from the test instruments, receives control messages from the test bench via CAN / Eth lines and returns response messages, and communicates with the simulation equipment via the PC5 interface. After the V2X messages used for testing are generated, the system 400 can perform V2X scenario testing independently of scenario simulation software (e.g., cloud-based scenario system or scenario simulation module) based on the V2X message stream and vehicle dynamic data, making clustered testing possible.

[0050] In general, by using simulation tools to generate test data, the host computer can drive the OBU / RSU (through the interfaces, sockets, or other interfaces provided by the OBU / RSU, to send V2X Class 5 messages, thereby driving the wireless device to perform PC5 communication; the sending and receiving of interface-to-PC5 messages can be developed by the OBU / RSU supplier), and send / receive V2X Class 5 messages on the PC5. At the same time, for the object under test, the BSM data of the HV (Host Vehicle) generated by the simulation tool can be converted into corresponding signals on the Ethernet / CAN bus to simulate vehicle dynamic data, realizing the playback and verification of the simulation environment on HIL (Hardware-in-the-Loop).

[0051] Furthermore, V2X boxes and GNSS generators can replace commonly used test instruments in existing technologies to simulate real V2X network environments, saving hardware costs. By using test data and a test database generated by simulation software, subsequent testing and verification can be performed based on the test data in the database in a message-based manner, eliminating the need to configure a separate simulation software for each test bench, thus saving software costs. Based on this, improvements to both hardware and software facilitate the implementation of CICD and clustered testing.

[0052] According to another aspect of the present invention, a vehicle hardware simulation testing method 600 is provided. For example... Figure 6 As shown, the vehicle hardware simulation testing method 600 includes the following steps: a test data generation step S601, generating simulated test data about the test scenario; a test management step S602, generating and managing test tasks based on the simulated test data; and a test execution step S603, using a test bench and based on the test tasks to control the simulation equipment, the device under test, and the test instruments, wherein the simulation equipment generates a network environment for vehicle hardware simulation testing based on the simulated test data. The simulated test data may include vehicle model data and scenario model data.

[0053] In one embodiment, test management step S602 may also include managing multiple test benches and test tasks.

[0054] In one embodiment, the vehicle hardware simulation testing method 600 may further include storing the generated simulation test data in a storage device used as a test scenario library. Correspondingly, in one embodiment, the test management step S602 may further include generating and managing test tasks based on the simulation test data obtained from the test scenario library.

[0055] In one embodiment, test management step S602 may further include at least one of the following: test set management, test task management, test report management, bench configuration management, test log management, scenario configuration management, test script management, and account management.

[0056] According to another aspect of the invention, a computer-readable storage medium is provided having program instructions stored thereon that are executable by a processor, the program instructions, when executed by the processor, perform the vehicle hardware simulation test method 600 according to one aspect of the invention. The storage medium may include tangible, non-transitory, machine-readable media, such as volatile memory (e.g., random access memory (RAM)) and / or non-volatile memory (e.g., read-only memory (ROM), flash memory, hard disk drive, and / or any other suitable optical, magnetic, or solid-state storage medium).

[0057] According to another aspect of the present invention, a vehicle is provided, which includes a vehicle hardware simulation test system 200 according to one aspect of the present invention.

[0058] The foregoing disclosure is not intended to limit this disclosure to the precise form disclosed or any particular field of use. Therefore, it is contemplated that various alternative embodiments and / or modifications of this disclosure are possible, whether expressly described or implied herein. Given that embodiments of this disclosure have been described as such, those skilled in the art will recognize that changes in form and detail may be made without departing from the scope of this disclosure. Therefore, this disclosure is limited only by the claims.

Claims

1. A vehicle hardware simulation testing system, characterized in that, include: The test data generation unit is configured to generate simulated test data about the test scenario; A test management unit, configured to generate and manage test tasks based on the simulated test data; as well as A test bench configured to control the simulation equipment, the device under test, and the test instruments based on the test task. The simulation device generates a network environment for simulating vehicle hardware testing based on the simulated test data. The simulated test data is stored in a storage device used as a test scenario library. The test instruments include a GNSS signal generator, and the simulation device is implemented using a V2X Box. The test scenario library generates V2X message streams and sends them to the test management unit for scheduling and to the test bench for driving. The test management unit sends equipment control signals to the test instruments on the test bench, and sends V2X message sets to the simulation equipment. The device under test receives GNSS messages from the test instrument, receives control messages from the test bench via the controller area network or Ethernet and returns response messages, and communicates with the simulation equipment via the PC5 interface. The test management unit is further configured to manage multiple test benches and test tasks. The simulated test data is centrally generated in the cloud, and the test tasks are executed based on the simulated test data. Multiple test benches simultaneously perform the test tasks using the simulated test data generated in the cloud.

2. The vehicle hardware simulation testing system according to claim 1, wherein, The simulation test data includes vehicle model data and scenario model data.

3. The vehicle hardware simulation testing system according to claim 1, wherein, The test management unit is also configured to generate and manage test tasks based on the simulated test data obtained from the test scenario library.

4. The vehicle hardware simulation testing system according to claim 1, wherein, The test management unit is also configured to perform at least one of the following: test set management, test task management, test report management, bench configuration management, test log management, scenario configuration management, test script management, and account management.

5. A vehicle hardware simulation testing method, characterized in that, Includes the following steps: The test data generation steps involve generating simulated test data for the test scenario. The test management steps involve generating and managing test tasks based on the simulated test data. as well as The test execution steps involve using a test bench and, based on the test task, controlling the simulation equipment, the device under test, and the test instruments. The simulation device generates a network environment for simulating vehicle hardware testing based on the simulated test data. The simulated test data is stored in a storage device used as a test scenario library. The test instruments include a GNSS signal generator, and the simulation device is implemented using a V2X Box. The test scenario library generates V2X message streams and sends them to the test management unit for scheduling and to the test bench for driving. The test management unit sends equipment control signals to the test instruments on the test bench, and sends V2X message sets to the simulation equipment. The device under test receives GNSS messages from the test instrument, receives control messages from the test bench via the controller area network or Ethernet and returns response messages, and communicates with the simulation equipment via the PC5 interface. The test management steps further include managing multiple test benches and test tasks. The simulated test data is centrally generated in the cloud, and the test tasks are executed based on the simulated test data. Multiple test benches simultaneously perform the test tasks using the simulated test data generated in the cloud.

6. The vehicle hardware simulation testing method according to claim 5, wherein, The simulation test data includes vehicle model data and scenario model data.

7. The vehicle hardware simulation testing method according to claim 5, wherein, The test management steps also include: generating and managing test tasks based on the simulated test data obtained from the test scenario library.

8. The vehicle hardware simulation testing method according to claim 5, wherein, The test management steps also include at least one of the following: Test suite management, test task management, test report management, bench configuration management, test log management, scenario configuration management, test script management, and account management.

9. A computer-readable storage medium having stored thereon program instructions executable by a processor, the program instructions, when executed by the processor, performing the vehicle hardware simulation test method according to any one of claims 5-8.

10. A vehicle comprising a vehicle hardware simulation test system according to any one of claims 1-4.

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