Method, system, electronic device and storage medium for V2X simulation test

Abstract

The present application provides a method, a system, an electronic device, and a storage medium for V2X simulation testing, including: setting a test scenario for V2X simulation testing, as well as use case information and relative position information of a simulation test case corresponding to the test scenario, and receiving first absolute GPS information and vehicle information sent by a vehicle to be tested; obtaining second absolute GPS information according to the relative position information and the first absolute GPS information; sending the first absolute GPS information, the vehicle information, the second absolute GPS information, and the use case information to the vehicle to be tested, and collaborating with the vehicle to be tested for V2X simulation testing according to the first absolute GPS information, the vehicle information, the second absolute GPS information, and the use case information. This enables V2X simulation testing to be carried out without installing a GPS device for obtaining position information on the simulation testing device, and at the same time, the simulation test cases are virtually generated by the simulation testing device, which also facilitates repeated simulation testing.

Description

Technical Field

[0001] This application belongs to the field of simulation testing, and particularly relates to methods, systems, electronic devices, and storage media for V2X simulation testing. Background Art

[0002] V2X technology refers to the information exchange of vehicles with the outside world, including vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-network / cloud (V2N), and vehicle-to-pedestrian (V2P). Through this technology, vehicles can obtain the status information of traffic participants on the road, perceive the surrounding environment, and achieve interconnection of all things. This function can enhance the autonomous driving ability, improve driving safety, and reduce traffic accidents.

[0003] With more and more vehicles equipped with V2X functions, the testing of V2X functions has become increasingly important. Currently, most of the tests for V2X functions are carried out by means of hardware-in-the-loop (HIL) simulation testing. In the actual site, at least two vehicles are used to cooperate with the actual test. Since GPS positioning devices need to be installed on at least two vehicles, there is a problem of high cost of HIL simulation testing. In actual vehicle testing, due to the existence of errors, it is very difficult to repeat the test of the same scenario more than twice. Therefore, there are problems such as low authenticity, low test repeatability in actual vehicle testing, and inability to simulate extreme working conditions. Summary of the Invention

[0004] The main purpose of the embodiments of the present invention is to provide methods, systems, electronic devices, and storage media for V2X simulation testing, so that V2X simulation testing can be carried out without installing GPS devices for obtaining position information on the simulation testing device, and at the same time, the simulation test cases are virtually generated by the simulation testing device, which is also convenient for repeated simulation testing.

[0005] In a first aspect, a method for V2X simulation testing is provided, and the method includes:

[0006] Set the test scenario for V2X simulation testing, the case information and relative position information of the simulation test case corresponding to the test scenario, and receive the first absolute GPS information and vehicle information sent by the vehicle to be tested. The first absolute GPS information is the initial absolute position information of the vehicle to be tested, the vehicle information is the vehicle information of the vehicle to be tested, and the relative position information is the relative position information of the simulation test case relative to the vehicle to be tested;

[0007] Obtain the second absolute GPS information according to the relative position information and the first absolute GPS information. The second absolute GPS information is the absolute position information of the simulation test case;

[0008] Send the first absolute GPS information, vehicle information, second absolute GPS information, and use case information to the vehicle under test, and cooperate with the vehicle under test to conduct V2X simulation tests according to the first absolute GPS information, vehicle information, second absolute GPS information, and use case information.

[0009] In a possible implementation, the test scenarios include: vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I).

[0010] In another possible implementation, the use case information includes:

[0011] When the test scenario is V2V, the simulation test case is a simulated vehicle, and the use case information is the driving speed, heading angle, vehicle status of the simulated vehicle, and the relative position information of the obstacles perceived by the simulated vehicle; or,

[0012] When the test scenario is V2I, the simulation test case is a road side unit (RSU), and the use case information is the test map information and the relative position information of the obstacles perceived by the RSU.

[0013] In another possible implementation, the obtaining of the second absolute GPS information according to the relative position information and the first absolute GPS information includes:

[0014] According to the formula Convert the first absolute GPS information into the first UTM projection coordinates (x, y), where 0 E = 500 km, 0 N = 0, 0 k = 0.9996, a = 6378.137,

[0015] Obtain the second UTM projection coordinates (x virtual , y virtual ) = (x + a, y + b) according to the relative position information (a, b) and the first UTM projection coordinates (x, y);

[0016] According to the formula Convert the second UTM projection coordinates into the second absolute GPS information (lati virtual , long virtual ), where

[0017] Second aspect, a V2X simulation test system is provided, the system comprising:

[0018] An information acquisition module, configured to set a test scenario for V2X simulation test, case information and relative position information of a simulation test case corresponding to the test scenario, and receive first absolute GPS information and vehicle information sent by a vehicle to be tested, the first absolute GPS information being the initial absolute position information of the vehicle to be tested, the vehicle information being the vehicle information of the vehicle to be tested, and the relative position information being the relative position information of the simulation test case relative to the vehicle to be tested;

[0019] A second absolute GPS information acquisition module, configured to acquire second absolute GPS information according to the relative position information and the first absolute GPS information, the second absolute GPS information being the absolute position information of the simulation test case;

[0020] A simulation test module, configured to send the first absolute GPS information, vehicle information, second absolute GPS information and case information to the vehicle to be tested, and cooperate with the vehicle to be tested to perform V2X simulation test according to the first absolute GPS information, vehicle information, second absolute GPS information and case information.

[0021] In a possible implementation, the test scenario includes: vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I).

[0022] In another possible implementation, the case information includes:

[0023] When the test scenario is V2V, the simulation test case is a simulation vehicle, and the case information is the driving speed, heading angle, vehicle state of the simulation vehicle, and relative position information of an obstacle sensed by the simulation vehicle; or,

[0024] When the test scenario is V2I, the simulation test case is a road side unit (RSU), and the case information is test map information and relative position information of an obstacle sensed by the RSU.

[0025] In another possible implementation, the second absolute GPS information acquisition module includes:

[0026] A first utm projection coordinate conversion unit, configured to convert the first absolute GPS information into first utm projection coordinates (x, y) according to the formula where E 0 = 500 km, N 0 = 0, k 0 = 0.9996, a = 6378.137,

[0027] The second UTM projection coordinate acquisition unit obtains the second UTM projection coordinate (x virtual , y virtual ) = (x + a, y + b) according to the relative position information (a, b) and the first UTM projection coordinate (x, y);

[0028] The second absolute GPS information conversion unit converts the second UTM projection coordinate into the second absolute GPS information (lati according to the formula virtual , long virtual ), where

[0029] In a third aspect, an electronic device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method for V2X simulation testing provided in the first aspect is implemented.

[0030] In a fourth aspect, a non-transitory computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for V2X simulation testing provided in the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments of the present application.

[0032] Figure 1 It is a flowchart of the method for V2X simulation testing provided by an embodiment of the present invention;

[0033] Figure 2 It is a flowchart of the method for V2X simulation testing provided by another embodiment of the present invention;

[0034] Figure 3 It is a flowchart of the system for V2X simulation testing provided by an embodiment of the present invention;

[0035] Figure 4 It is a structural diagram of the system for V2X simulation testing provided by another embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of the physical structure of an electronic device according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar modules or modules with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present invention.

[0038] Those skilled in the art of this technology can understand that, unless specifically stated otherwise, the singular forms "a", "an", "the", and "said" used herein may also include the plural forms. It should be further understood that the term "including" used in the specification of the present application means the presence of the described features, integers, steps, operations, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, modules, components, and / or their groups. It should be understood that when we say that a module is "connected" or "coupled" to another module, it can be directly connected or coupled to other modules, or there may also be intermediate modules. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any one of the associated listed items and all combinations.

[0039] To make the purpose, technical solutions, and advantages of the present application clearer, the implementation manners of the present application will be further described in detail below with reference to the accompanying drawings.

[0040] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0041] As Figure 1 shown is a flowchart of a method for V2X simulation testing provided by an embodiment of the present invention. The method includes:

[0042] Step 101, set the test scenario of the V2X simulation test, the case information and relative position information of the simulation test case corresponding to the test scenario, and receive the first absolute GPS information and vehicle information sent by the vehicle to be tested. The first absolute GPS information is the initial absolute position information of the vehicle to be tested, the vehicle information is the vehicle information of the vehicle to be tested, and the relative position information is the relative position information of the simulation test case relative to the vehicle to be tested;

[0043] Step 102, obtain the second absolute GPS information according to the relative position information and the first absolute GPS information. The second absolute GPS information is the absolute position information of the simulation test case;

[0044] Step 103: Send the first absolute GPS information, vehicle information, second absolute GPS information, and use case information to the vehicle to be tested, and cooperate with the vehicle to be tested to conduct V2X simulation testing based on the first absolute GPS information, vehicle information, second absolute GPS information, and use case information.

[0045] In the embodiments of the present invention, V2X can be roughly divided into: V2V (vehicle-to-vehicle) and V2I (vehicle-to-infrastructure) according to different test scenarios. The simulation testing device accepts the operations of the simulation testers, sets the test scenarios for V2X simulation testing, and the use case information of the simulation test cases corresponding to the test scenarios. Specifically: if the test scenario is V2V, the simulation test case is a simulated vehicle, and the use case information is the driving speed, heading angle, vehicle status of the simulated vehicle, and the relative position information of the obstacles perceived by the simulated vehicle; if the test scenario is V2I, the simulation test case is an RSU (road side unit), and the use case information is the test map information and the relative position information of the obstacles perceived by the RSU.

[0046] The vehicle to be tested obtains the GPS information of the vehicle through the local GPS device. This GPS information is absolute position information, that is, the first absolute GPS information, and sends the first absolute GPS information to the simulation testing device. Since the simulation testing device is installed on the vehicle to be tested, the simulation testing device sets the first absolute GPS information as the absolute position information of the simulation testing device, which can save the setting of the GPS device on the simulation testing device. The simulation testing device sets the relative position information between the simulation test case and the vehicle compartment to be tested according to the needs of the simulation testing, and converts the relative position information into the second absolute GPS information based on the first absolute GPS information.

[0047] The simulation testing device sends the first absolute GPS information, vehicle information, second absolute GPS information, and use case information to the OBU of the vehicle to be tested through the OBU (on-board unit) to achieve information synchronization, and cooperates with the vehicle to be tested to conduct V2X simulation testing based on the first absolute GPS information, vehicle information, second absolute GPS information, and use case information.

[0048] In an embodiment of the present invention, a test scenario for V2X simulation testing is set, as well as use case information and relative position information of a simulation test case corresponding to the test scenario. The first absolute GPS information and vehicle information sent by a vehicle to be tested are received. Second absolute GPS information is obtained according to the relative position information and the first absolute GPS information. The first absolute GPS information, vehicle information, second absolute GPS information, and use case information are sent to the vehicle to be tested, and V2X simulation testing is carried out in cooperation with the vehicle to be tested according to the first absolute GPS information, vehicle information, second absolute GPS information, and use case information. This enables V2X simulation testing to be carried out without installing a GPS device for obtaining position information on the simulation testing device. At the same time, the simulation test cases are virtually generated by the simulation testing device, which also facilitates repeated simulation testing.

[0049] As Figure 2 shown in the flowchart of the method for V2X simulation testing provided by another embodiment of the present invention, the obtaining of the second absolute GPS information according to the relative position information and the first absolute GPS information includes:

[0050] Step 201, convert the first absolute GPS information into a first UTM projection coordinate (x, y) according to the formula , where E 0 = 500 km, N 0 = 0, k 0 = 0.9996, a = 6378.137,

[0051] Step 202, obtain a second UTM projection coordinate (x virtual , y virtual ) = (x + a, y + b) according to the relative position information (a, b) and the first UTM projection coordinate (x, y);

[0052] Step 203, convert the second UTM projection coordinate into second absolute GPS information (lati , long virtual , long virtual ) according to the formula, where

[0053] As Figure 3 shown in the structural diagram of the system for V2X simulation testing provided by an embodiment of the present invention, the system includes:

[0054] An information acquisition module 301 is configured to set a test scenario for V2X simulation testing, as well as case information and relative position information of a simulation test case corresponding to the test scenario, and receive first absolute GPS information and vehicle information sent by a vehicle to be tested. The first absolute GPS information is the initial absolute position information of the vehicle to be tested, the vehicle information is the vehicle information of the vehicle to be tested, and the relative position information is the relative position information of the simulation test case relative to the vehicle to be tested.

[0055] A second absolute GPS information acquisition module 302 is configured to obtain second absolute GPS information according to the relative position information and the first absolute GPS information. The second absolute GPS information is the absolute position information of the simulation test case.

[0056] A simulation test module 303 is configured to send the first absolute GPS information, vehicle information, second absolute GPS information, and case information to the vehicle to be tested, and cooperate with the vehicle to be tested to perform V2X simulation testing according to the first absolute GPS information, vehicle information, second absolute GPS information, and case information.

[0057] In an embodiment of the present invention, V2X can be roughly divided into: V2V (vehicle-to-vehicle), V2I (vehicle-to-infrastructure) according to different test scenarios. The simulation test device accepts the operation of the simulation test personnel, sets the test scenario of V2X simulation testing, and the case information of the simulation test case corresponding to the test scenario. Specifically: if the test scenario is V2V, the simulation test case is a simulation vehicle, and the case information is the driving speed, heading angle, vehicle state of the simulation vehicle, and the relative position information of the obstacles sensed by the simulation vehicle; if the test scenario is V2I, the simulation test case is an RSU (road side unit), and the case information is the test map information, the relative position information of the obstacles sensed by the RSU.

[0058] The vehicle to be tested obtains the GPS information of the vehicle through the local GPS device. This GPS information is the absolute position information, that is, the first absolute GPS information, and sends the first absolute GPS information to the simulation test device. Since the simulation test device is arranged on the vehicle to be tested, the simulation test device sets the first absolute GPS information as the absolute position information of the simulation test device, and the GPS device on the simulation test device can be omitted. The simulation test device sets the relative position information between the simulation test case and the vehicle compartment to be tested according to the needs of the simulation test, and converts the relative position information into the second absolute GPS information according to the first absolute GPS information.

[0059] The simulation test device sends the first absolute GPS information, vehicle information, second absolute GPS information, and use case information to the OBU of the vehicle to be tested through the OBU (On-Board Unit) to achieve information synchronization, and cooperates with the vehicle to be tested for V2X simulation testing according to the first absolute GPS information, vehicle information, second absolute GPS information, and use case information.

[0060] In an embodiment of the present invention, the test scenario of V2X simulation testing and the use case information and relative position information of the simulation test case corresponding to the test scenario are set, and the first absolute GPS information and vehicle information sent by the vehicle to be tested are received. The second absolute GPS information is obtained according to the relative position information and the first absolute GPS information, and the first absolute GPS information, vehicle information, second absolute GPS information, and use case information are sent to the vehicle to be tested, and V2X simulation testing is cooperated with the vehicle to be tested according to the first absolute GPS information, vehicle information, second absolute GPS information, and use case information. This enables the V2X simulation testing to be carried out on the simulation test device without installing a GPS device for obtaining position information.

[0061] As Figure 4 shown in the flowchart of the method for V2X simulation testing provided by another embodiment of the present invention, the second absolute GPS information acquisition module 302 includes:

[0062] The first utm projection coordinate conversion unit 401 is used to convert the first absolute GPS information into the first utm projection coordinate (x, y) according to the formula where E 0 = 500km, N 0 = 0, k 0 = 0.9996, a = 6378.137,

[0063] The second utm projection coordinate acquisition unit 402 obtains the second utm projection coordinate (x virtual , y virtual ) = (x + a, y + b) according to the relative position information (a, b) and the first utm projection coordinate (x, y);

[0064] The second absolute GPS information conversion unit 403 converts the second utm projection coordinate into the second absolute GPS information (lati , long virtual , long virtual ) according to the formula, where

[0065]

[0066]

[0067] Figure 5 An entity structure diagram of an electronic device is illustrated, as Figure 5 shown. The electronic device may include: a processor 501, a communications interface 502, a memory 503, and a communication bus 504. Among them, the processor, the communications interface, and the memory communicate with each other through the communication bus. The processor may call the logical instructions in the memory to execute the method for V2X simulation testing. The method includes: setting the test scenario of the V2X simulation testing and the case information and relative position information of the simulation test cases corresponding to the test scenario, and receiving the first absolute GPS information and vehicle information sent by the vehicle to be tested. The first absolute GPS information is the initial absolute position information of the vehicle to be tested, the vehicle information is the vehicle information of the vehicle to be tested, and the relative position information is the relative position information of the simulation test case relative to the vehicle to be tested; obtaining the second absolute GPS information according to the relative position information and the first absolute GPS information. The second absolute GPS information is the absolute position information of the simulation test case; sending the first absolute GPS information, the vehicle information, the second absolute GPS information, and the case information to the vehicle to be tested, and cooperating with the vehicle to be tested to perform V2X simulation testing according to the first absolute GPS information, the vehicle information, the second absolute GPS information, and the case information.

[0068] In addition, when the logical instructions in the above-mentioned memory are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0069] On the other hand, an embodiment of the present invention further provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the V2X simulation test method provided by each of the above method embodiments. The method includes: setting a test scenario for the V2X simulation test, as well as use case information and relative position information of a simulation test case corresponding to the test scenario, and receiving first absolute GPS information and vehicle information sent by a vehicle to be tested. The first absolute GPS information is the initial absolute position information of the vehicle to be tested, the vehicle information is the vehicle information of the vehicle to be tested, and the relative position information is the relative position information of the simulation test case relative to the vehicle to be tested; obtaining second absolute GPS information according to the relative position information and the first absolute GPS information. The second absolute GPS information is the absolute position information of the simulation test case; sending the first absolute GPS information, the vehicle information, the second absolute GPS information, and the use case information to the vehicle to be tested, and cooperating with the vehicle to be tested to perform a V2X simulation test according to the first absolute GPS information, the vehicle information, the second absolute GPS information, and the use case information.

[0070] In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the V2X simulation test method provided by each of the above embodiments. The method includes: setting a test scenario for the V2X simulation test, as well as use case information and relative position information of a simulation test case corresponding to the test scenario, and receiving first absolute GPS information and vehicle information sent by a vehicle to be tested. The first absolute GPS information is the initial absolute position information of the vehicle to be tested, the vehicle information is the vehicle information of the vehicle to be tested, and the relative position information is the relative position information of the simulation test case relative to the vehicle to be tested; obtaining second absolute GPS information according to the relative position information and the first absolute GPS information. The second absolute GPS information is the absolute position information of the simulation test case; sending the first absolute GPS information, the vehicle information, the second absolute GPS information, and the use case information to the vehicle to be tested, and cooperating with the vehicle to be tested to perform a V2X simulation test according to the first absolute GPS information, the vehicle information, the second absolute GPS information, and the use case information.

[0071] It should be understood that although the steps in the flowchart of the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise clearly stated in this document, there is no strict order restriction for the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0072] The above are only some implementation manners of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for V2X simulation testing, characterized in that, the simulation testing device is arranged on the vehicle to be tested, and the method includes: setting the test scenario of V2X simulation testing and the case information and relative position information of the simulation test case corresponding to the test scenario, and receiving the first absolute GPS information and vehicle information sent by the vehicle to be tested, where the first absolute GPS information is the initial absolute position information of the vehicle to be tested, the vehicle information is the vehicle information of the vehicle to be tested, and the relative position information is the relative position information of the simulation test case relative to the vehicle to be tested; obtaining the second absolute GPS information according to the relative position information and the first absolute GPS information, where the second absolute GPS information is the absolute position information of the simulation test case; sending the first absolute GPS information, vehicle information, second absolute GPS information and case information to the vehicle to be tested, and cooperating with the vehicle to be tested to perform V2X simulation testing according to the first absolute GPS information, vehicle information, second absolute GPS information and case information; the obtaining the second absolute GPS information according to the relative position information and the first absolute GPS information includes: according to the formula ， converting the first absolute GPS information into the first utm projection coordinates (x, y), where, E 0 = 500 km, N 0 = 0, k 0 = 0.9996, ， ， ， ，a=6378.137； Obtain the second UTM projection coordinates (x virtual , y virtual ) = (x + a, y + b) according to the relative position information (a, b) and the first UTM projection coordinates (x, y); according to the formula ， Convert the second UTM projection coordinates into second absolute GPS information (lati virtual , lon g virtual ), where ， ， ， 。 2. The method according to claim 1, characterized in that, the test scenario includes: vehicle-to-vehicle V2V, vehicle-to-infrastructure V2I.

3. The method according to claim 2, characterized in that, the case information includes: when the test scenario is V2V, the simulation test case is a simulation vehicle, and the case information is the driving speed, heading angle, vehicle state of the simulation vehicle and the relative position information of the obstacles sensed by the simulation vehicle; or, when the test scenario is V2I, the simulation test case is a road test unit RSU, and the case information is the test map information and the relative position information of the obstacles sensed by the RSU.

4. A system for implementing the V2X simulation testing method according to any one of claims 1-3, characterized in that, the simulation testing device is arranged on the vehicle to be tested, and the system includes: an information acquisition module, configured to set the test scenario of V2X simulation testing and the case information and relative position information of the simulation test case corresponding to the test scenario, and receive the first absolute GPS information and vehicle information sent by the vehicle to be tested, where the first absolute GPS information is the initial absolute position information of the vehicle to be tested, the vehicle information is the vehicle information of the vehicle to be tested, and the relative position information is the relative position information of the simulation test case relative to the vehicle to be tested; a second absolute GPS information acquisition module, configured to obtain the second absolute GPS information according to the relative position information and the first absolute GPS information, where the second absolute GPS information is the absolute position information of the simulation test case; A simulation test module, configured to send the first absolute GPS information, vehicle information, second absolute GPS information, and use case information to the vehicle to be tested, and cooperate with the vehicle to be tested to perform V2X simulation tests according to the first absolute GPS information, vehicle information, second absolute GPS information, and use case information.

5. The system according to claim 4, wherein, the test scenarios include: vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I).

6. The system according to claim 5, wherein, the use case information includes: when the test scenario is V2V, the simulation test case is a simulation vehicle, and the use case information is the driving speed, heading angle, vehicle state of the simulation vehicle, and the relative position information of the obstacles sensed by the simulation vehicle; or, when the test scenario is V2I, the simulation test case is a road side unit (RSU), and the use case information is the test map information and the relative position information of the obstacles sensed by the RSU.

7. The system according to claim 4, wherein, the second absolute GPS information acquisition module includes: a first UTM projection coordinate conversion unit, configured to convert the first absolute GPS information into a first UTM projection coordinate (x, y) according to the formula ， , where E0 = 500 km, N0 = 0, k0 = 0.9996, ， ， ， ，a=6378.137； The second UTM projection coordinate acquisition unit obtains the second UTM projection coordinate (x virtual , y virtual ) = (x + a, y + b) according to the relative position information (a, b) and the first UTM projection coordinate (x, y); a second absolute GPS information conversion unit, configured to convert according to the formula ， Convert the second UTM projection coordinates into second absolute GPS information (lati virtual , lon g virtual ), where ， ， ， 。 8. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, when the processor executes the program, it implements the method for V2X simulation test according to any one of claims 1-3.

9. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, it implements the method for V2X simulation test according to any one of claims 1-3.

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