Software verification method, device, equipment and readable storage medium

Abstract

The present invention provides a software verification method, device, equipment, and readable storage medium. The method includes: if an error occurs in the assisted driving controller software, filtering the detection data according to preset filtering conditions, wherein the detection data is data acquired by the vehicle sensors and the front-view camera when the vehicle is driving on different actual roads; updating the assisted driving controller software; inputting the filtered detection data into the updated assisted driving controller software, and obtaining a processing result of the filtered detection data output by the updated assisted driving controller software; if the processing result is different from the preset result, using the updated assisted driving controller software as the assisted driving controller software, and executing the step of updating the assisted driving controller software. The present invention solves the problems of low efficiency in the prior art, which leads to a long development cycle for assisted driving software, and the high cost of using a simulation test bench.

Description

Technical Field

[0001] The present invention relates to the field of automobile testing, and in particular to a software verification method, device, equipment and readable storage medium. Background Art

[0002] During the development process of the assisted driving software, the assisted driving software needs to be verified. If the verification result shows that the assisted driving software is incorrect, the assisted driving software will be updated and then verified again until the verification result shows that the assisted driving software is correct.

[0003] In the existing technology, if an error is verified in the assisted driving software, the cleaned scene data needs to be re-entered into the simulation test bench before the updated assisted driving software can be verified based on the output results of the simulation test bench. This is inefficient and leads to a long development cycle for the assisted driving software. Summary of the Invention

[0004] The main purpose of the present invention is to provide a software verification method, device, equipment and readable storage medium, aiming to solve the problem in the prior art that when an error occurs in the assisted driving software, the efficiency of re-verification of the updated assisted driving software is low, resulting in a long development cycle of the assisted driving software.

[0005] In a first aspect, the present invention provides a software verification method, the software verification method comprising:

[0006] If the verification result of the assisted driving controller software is that the assisted driving controller software is erroneous, the detection data is filtered according to the preset filtering conditions, wherein the detection data is data obtained by the vehicle sensors and the front-view camera when the vehicle is driving on different actual roads;

[0007] Update the assisted driving controller software;

[0008] Inputting the filtered detection data into the updated assisted driving controller software to obtain a processing result of the filtered detection data output by the updated assisted driving controller software;

[0009] If the processing result is the same as the preset result, the verification result of the updated assisted driving controller software is that the updated assisted driving controller software is correct;

[0010] If the processing result is different from the preset result, the updated assisted driving controller software is used as the assisted driving controller software, and the step of updating the assisted driving controller software is executed.

[0011] Optionally, the step of screening the detection data according to preset screening conditions includes:

[0012] Filter data collected by vehicle sensors and forward-looking cameras from detection data.

[0013] Optionally, before the step of filtering the detection data according to preset filtering conditions if the verification result of the assisted driving controller software is that the assisted driving controller software is erroneous, the step includes:

[0014] Obtain reference data and detection data corresponding to each moment when the vehicle is driving on different actual roads. The data obtained by lidar and inertial navigation is used as reference data, and the data obtained by vehicle sensors and forward-looking cameras is used as detection data.

[0015] Optionally, after the step of obtaining reference data and detection data corresponding to each moment when the vehicle travels on different roads, the following steps are included:

[0016] Compare the reference data and test data corresponding to the same moment respectively;

[0017] If the comparison results are the same, the verification result of the assisted driving controller software is that the assisted driving controller software is incorrect.

[0018] Optionally, after the step of comparing the reference data and the detection data corresponding to the same moment respectively, the following steps are included:

[0019] If the comparison results of the reference data and the test data corresponding to any moment are different, the verification result of the assisted driving controller software is that the assisted driving controller software is correct.

[0020] Optionally, before the step of screening the detection data according to the preset screening conditions, the following steps are included:

[0021] Add labels to the detection data, wherein a first label is added to the data sent by the assisted driving controller to the vehicle sensor or the front-view camera, and a second label is added to the remaining data obtained by the vehicle sensor and the front-view camera.

[0022] Optionally, the step of screening the detection data according to preset screening conditions includes:

[0023] Detection data corresponding to the second tag is filtered from the detection data.

[0024] In a second aspect, the present invention further provides a software verification device, the software verification device comprising:

[0025] a screening module, configured to screen detection data according to preset screening conditions if the verification result of the assisted driving controller software is that the assisted driving controller software is erroneous, wherein the detection data is data acquired by the vehicle sensors and the front-view camera when the vehicle is driving on different actual roads;

[0026] Update module, used to update the assisted driving controller software;

[0027] An input module, configured to input the filtered detection data into the updated assisted driving controller software, and obtain a processing result of the filtered detection data output by the updated assisted driving controller software;

[0028] A verification result obtaining module is used to verify that the updated assisted driving controller software is correct if the processing result is the same as the preset result;

[0029] The execution module is used to use the updated assisted driving controller software as the assisted driving controller software and execute the step of updating the assisted driving controller software if the processing result is different from the preset result.

[0030] In a third aspect, the present invention also provides a software verification device, which includes a processor, a memory, and a software verification program stored in the memory and executable by the processor, wherein when the software verification program is executed by the processor, the steps of the software verification method described above are implemented.

[0031] In a fourth aspect, the present invention further provides a readable storage medium, on which a software verification program is stored, wherein when the software verification program is executed by a processor, the steps of the software verification method described above are implemented.

[0032] In the present invention, if the verification result of the assisted driving controller software is that the assisted driving controller software is incorrect, the detection data is filtered according to preset filtering conditions, wherein the detection data is data acquired by the vehicle sensors and the front-view camera when the vehicle is traveling on different actual roads; the assisted driving controller software is updated; the filtered detection data is input into the updated assisted driving controller software, and the processing result of the filtered detection data output by the updated assisted driving controller software is obtained; if the processing result is the same as the preset result, the verification result of the updated assisted driving controller software is that the updated assisted driving controller software is correct; if the processing result is different from the preset result, the updated assisted driving controller software is used as the assisted driving controller software, and the step of updating the assisted driving controller software is executed. Through the present invention, if it is verified that the assisted driving software has an error, it is only necessary to input the filtered detection data into the updated assisted driving controller software again to verify the updated assisted driving software. Because the filtered detection data is data when the vehicle is driving on different actual roads, there is no need to verify the updated assisted driving software based on the output results of the simulation test bench, thereby realizing the reuse of data when the vehicle is driving on different actual roads. Therefore, there is no need to re-input the cleaned scene data into the simulation test bench for simulation, which solves the problems of low efficiency in the existing technology, resulting in a long development cycle of assisted driving software, and the high cost of using a simulation test bench. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the hardware structure of the software verification device involved in the embodiment of the present invention;

[0034] Figure 2 Schematic diagram of the flow of the first embodiment of the software verification method of the present invention;

[0035] Figure 3 Schematic diagram of the overall architecture of the software verification method of the present invention;

[0036] Figure 4 This is a flow chart of a second embodiment of the software verification method of the present invention;

[0037] Figure 5 Schematic diagram of the functional modules of an embodiment of a software verification device of the present invention.

[0038] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] In a first aspect, an embodiment of the present invention provides a software verification device, which may be a device with data processing function, such as a personal computer (PC), a notebook computer, or a server.

[0041] Reference Figure 1 , Figure 1 Schematic diagram of the hardware structure of the xx device involved in the embodiment of the present invention. In the embodiment of the present invention, the software verification device may include a processor 1001 (such as a central processing unit (CPU)), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 1 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0042] Continue to refer to Figure 1 , Figure 1 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a software verification program. The processor 1001 may call the software verification program stored in the memory 1005 and execute the software verification method provided in the embodiment of the present invention.

[0043] In a second aspect, an embodiment of the present invention provides a software verification method.

[0044] In one embodiment, referring to Figure 2 , Figure 2 FIG. 1 is a flow chart of the first embodiment of the software verification method of the present invention. Figure 2 As shown, the software verification method includes:

[0045] Step S10: If the verification result of the assisted driving controller software is that the assisted driving controller software is erroneous, then the detection data is filtered according to a preset filtering condition, wherein the detection data is data acquired by the vehicle sensors and the front-view camera when the vehicle is driving on different actual roads;

[0046] In this embodiment, if the verification result of the assisted driving controller software is that the assisted driving controller software is wrong, the data obtained by the vehicle sensors and the front-view camera when the vehicle is driving on different actual roads are filtered according to preset filtering conditions to obtain filtered detection data.

[0047] Furthermore, in one embodiment, the step of screening the detection data according to the preset screening conditions includes:

[0048] Filter data collected by vehicle sensors and forward-looking cameras from detection data.

[0049] In this embodiment, data collected by the vehicle sensor and the front-view camera are filtered from the detection data to obtain filtered detection data.

[0050] Furthermore, in one embodiment, before the step of filtering the detection data according to the preset filtering conditions, the following steps are included:

[0051] Add labels to the detection data, wherein a first label is added to the data sent by the assisted driving controller to the vehicle sensor or the front-view camera, and a second label is added to the remaining data obtained by the vehicle sensor and the front-view camera.

[0052] In this embodiment, labels are added to the detection data for subsequent screening of the detection data based on the labels of the detection data, wherein a first label is added to the data sent by the assisted driving controller to the vehicle sensor or the front-view camera, and a second label is added to the remaining data obtained by the vehicle sensor and the front-view camera.

[0053] Furthermore, in one embodiment, the step of screening the detection data according to the preset screening conditions includes:

[0054] Detection data corresponding to the second tag is filtered from the detection data.

[0055] In this embodiment, detection data corresponding to the second label is filtered from the detection data to obtain filtered detection data, that is, the detection data corresponding to the second label is the filtered detection data.

[0056] Step S20, updating the assisted driving controller software;

[0057] In this embodiment, the program in the assisted driving controller software is modified and re-written to obtain an updated assisted driving controller software.

[0058] Step S30: inputting the filtered detection data into the updated assisted driving controller software, and obtaining a processing result of the filtered detection data output by the updated assisted driving controller software;

[0059] In this embodiment, the filtered detection data is input into the updated assisted driving controller software, and the updated assisted driving controller software outputs a processing result of the filtered detection data.

[0060] Step S40: If the processing result is the same as the preset result, the verification result of the updated assisted driving controller software is that the updated assisted driving controller software is correct;

[0061] In this embodiment, if the processing result of the filtered detection data output by the updated assisted driving controller software is the same as the preset result, it means that the updated assisted driving controller software is correct.

[0062] Specifically, if the preset result is 3, and the processing result of the filtered detection data output by the updated assisted driving controller software is also 3, then the processing result is the same as the preset result, and the verification result of the updated assisted driving controller software is that the updated assisted driving controller software is correct.

[0063] In step S50 , if the processing result is different from the preset result, the updated driving assistance controller software is used as the driving assistance controller software, and the step of updating the driving assistance controller software is executed.

[0064] In this embodiment, if the processing result of the filtered detection data output by the updated assisted driving controller software is different from the preset result, the updated assisted driving controller software is used as the assisted driving controller software, and the steps of updating the assisted driving controller software are re-executed until the verification result of the updated assisted driving controller software is that the updated assisted driving controller software is correct.

[0065] In this embodiment, if the verification result of the assisted driving controller software is that the assisted driving controller software is incorrect, the detection data is filtered according to preset filtering conditions, wherein the detection data is data obtained by the vehicle sensors and the front-view camera when the vehicle is driving on different actual roads; the assisted driving controller software is updated; the filtered detection data is input into the updated assisted driving controller software, and the processing result of the filtered detection data output by the updated assisted driving controller software is obtained; if the processing result is the same as the preset result, the verification result of the updated assisted driving controller software is that the updated assisted driving controller software is correct; if the processing result is different from the preset result, the updated assisted driving controller software is used as the assisted driving controller software, and the step of updating the assisted driving controller software is executed. Through this embodiment, if it is verified that the assisted driving software has an error, it is only necessary to input the filtered detection data into the updated assisted driving controller software again to verify the updated assisted driving software. Because the filtered detection data is data when the vehicle is driving on different actual roads, there is no need to verify the updated assisted driving software based on the output results of the simulation test bench, which realizes the reuse of data when the vehicle is driving on different actual roads. Therefore, there is no need to re-input the cleaned scene data into the simulation test bench for simulation, which solves the problems of low efficiency in the existing technology, resulting in a long development cycle of assisted driving software, and the high cost of using a simulation test bench.

[0066] Furthermore, in one embodiment, referring to Figure 4 , Figure 4 FIG. 1 is a flow chart of the second embodiment of the software verification method of the present invention. Figure 4 As shown, before the step of filtering the detection data according to the preset filtering conditions if the verification result of the assisted driving controller software is that the assisted driving controller software is wrong, the method includes:

[0067] Step S001, obtaining reference data and detection data corresponding to each moment when the vehicle is traveling on different actual roads, wherein the data obtained by the lidar and inertial navigation is used as the reference data, and the data obtained by the vehicle sensor and the forward-looking camera is used as the detection data.

[0068] In this embodiment, refer to Figure 3 , Figure 3 This is a schematic diagram of the overall architecture of the software verification method of the present invention. Figure 3As shown in the figure, the industrial computer acquires data from inertial navigation, data from vehicle sensors and forward-facing cameras via a CAN card and domain controller, and data from the lidar controller. Different actual roads, including highways, rural roads, and urban roads, are used to acquire reference data and detection data at each moment while the vehicle is traveling on these roads. Data from the lidar and inertial navigation serves as reference data, while data from the vehicle sensors and forward-facing cameras serves as detection data. A domain controller (DC) refers to at least one server in "domain" mode, responsible for authenticating every computer and user connected to the network. An industrial personal computer (IPC), or industrial control computer, is a general term for a bus-based tool used to monitor and control production processes, electromechanical equipment, and process equipment. The CAN card's primary function is to convert communication protocols, ensuring smooth transmission between devices and the smooth transmission and reception of CAN bus data.

[0069] Specifically, when the vehicle is traveling on highways, rural roads, and urban roads, the data obtained by the lidar and inertial navigation at time t1 is used as reference data, and the data obtained by the vehicle sensors and forward-looking camera at time t1 is used as detection data. That is, when the vehicle is traveling on different actual roads, there is corresponding reference data and detection data at each moment.

[0070] Furthermore, in one embodiment, continue to refer to Figure 4 After the step of obtaining the reference data and detection data corresponding to each moment when the vehicle travels on different roads, the method further includes:

[0071] Step S002, respectively comparing the reference data and the detection data corresponding to the same moment;

[0072] Step S003: If the comparison results are the same, the verification result of the assisted driving controller software is that the assisted driving controller software is wrong.

[0073] In this embodiment, if reference data and detection data corresponding to 10 moments are obtained, the reference data and detection data corresponding to the same moment are compared respectively, that is, the reference data at moment t0 is compared with the detection data at moment t0, the reference data at moment t1 is compared with the detection data at moment t1, and so on, until the reference data at moment t9 is compared with the detection data at moment t9.

[0074] If the comparison results of the reference data and test data corresponding to the 10 moments are the same, it means that there is no error in the vehicle sensor and the front-view camera, but an error in the assisted driving controller software. Therefore, the reference data and test data corresponding to the same moment are compared respectively. If the comparison results are the same, the verification result of the assisted driving controller software is that there is an error in the assisted driving controller software.

[0075] Furthermore, in one embodiment, continue to refer to Figure 4 , after the step of comparing the reference data and the detection data corresponding to the same moment, the method further includes:

[0076] In step S004, if the comparison results of the reference data and the detection data corresponding to any moment are different, the verification result of the assisted driving controller software is that the assisted driving controller software is correct.

[0077] In this embodiment, if the comparison results of the reference data and the detection data corresponding to 10 moments are different at any moment, it means that the vehicle sensor and the front-view camera are wrong, and the assisted driving controller software is not wrong, so the reference data and the detection data corresponding to the same moment are compared respectively. If the comparison results of the reference data and the detection data corresponding to any moment are different, the verification result of the assisted driving controller software is that the assisted driving controller software is correct.

[0078] In a third aspect, an embodiment of the present invention further provides a software verification device.

[0079] In one embodiment, referring to Figure 5 , Figure 5 FIG. 1 is a functional module diagram of an embodiment of a software verification device of the present invention. Figure 5 As shown, the software verification device includes:

[0080] a screening module 10 for screening detection data according to preset screening conditions if the verification result of the assisted driving controller software is that the assisted driving controller software is erroneous, wherein the detection data is data acquired by the vehicle sensors and the front-view camera when the vehicle is traveling on different actual roads;

[0081] An updating module 20 is used to update the assisted driving controller software;

[0082] An input module 30 is used to input the filtered detection data into the updated assisted driving controller software, and obtain a processing result of the filtered detection data output by the updated assisted driving controller software;

[0083] A verification result obtaining module 40 is configured to verify that the updated assisted driving controller software is correct if the processing result is the same as the preset result;

[0084] The execution module 50 is used to execute the step of updating the assisted driving controller software using the updated assisted driving controller software as the assisted driving controller software if the processing result is different from the preset result.

[0085] Furthermore, in one embodiment, the screening module 10 is configured to:

[0086] Filter data collected by vehicle sensors and forward-looking cameras from detection data.

[0087] Furthermore, in one embodiment, the software verification device further includes an acquisition module, configured to:

[0088] Obtain reference data and detection data corresponding to each moment when the vehicle is driving on different actual roads. The data obtained by lidar and inertial navigation is used as reference data, and the data obtained by vehicle sensors and forward-looking cameras is used as detection data.

[0089] Furthermore, in one embodiment, the software verification device further includes a comparison module for:

[0090] Compare the reference data and test data corresponding to the same moment respectively;

[0091] If they are all the same, the verification result of the assisted driving controller software is that the assisted driving controller software is wrong.

[0092] Furthermore, in one embodiment, the comparison module is further configured to:

[0093] If the reference data and test data corresponding to any moment are different, the verification result of the assisted driving controller software is that the assisted driving controller software is correct.

[0094] Furthermore, in one embodiment, the software verification device further includes a setting module for:

[0095] Add labels to the detection data, wherein a first label is added to the data sent by the assisted driving controller to the vehicle sensor or the front-view camera, and a second label is added to the remaining data obtained by the vehicle sensor and the front-view camera.

[0096] Furthermore, in one embodiment, the screening module 10 is further configured to:

[0097] Detection data corresponding to the second tag is filtered from the detection data.

[0098] Among them, the functional implementation of each module in the above-mentioned software verification device corresponds to each step in the above-mentioned software verification method embodiment, and its functions and implementation processes are no longer repeated here.

[0099] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0100] The readable storage medium of the present invention stores a software verification program, wherein when the software verification program is executed by a processor, the steps of the software verification method described above are implemented.

[0101] The method implemented when the software verification program is executed can refer to the various embodiments of the software verification method of the present invention, and will not be described in detail here.

[0102] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0103] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0104] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in various embodiments of the present invention.

[0105] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A software verification method, characterized in that: The software verification method comprises: If the verification result of the assisted driving controller software is that the assisted driving controller software is erroneous, the detection data is filtered according to the preset filtering conditions, wherein the detection data is data obtained by the vehicle sensors and the front-view camera when the vehicle is driving on different actual roads; Update the assisted driving controller software; Inputting the filtered detection data into the updated assisted driving controller software to obtain a processing result of the filtered detection data output by the updated assisted driving controller software; If the processing result is the same as the preset result, the verification result of the updated assisted driving controller software is that the updated assisted driving controller software is correct; If the processing result is different from the preset result, the updated assisted driving controller software is used as the assisted driving controller software, and the step of updating the assisted driving controller software is executed; Before the step of screening the detection data according to the preset screening conditions, the following steps are included: Adding labels to the detection data, wherein a first label is added to the data sent by the assisted driving controller to the vehicle sensor or the front-view camera, and a second label is added to the remaining data obtained by the vehicle sensor and the front-view camera; The step of screening the detection data according to the preset screening conditions includes: Detection data corresponding to the second tag is filtered from the detection data.

2. The software verification method according to claim 1, wherein: The step of screening the detection data according to the preset screening conditions includes: Filter data collected by vehicle sensors and forward-looking cameras from detection data.

3. The software verification method according to claim 1, wherein: Before the step of filtering the detection data according to preset filtering conditions if the verification result of the assisted driving controller software is that the assisted driving controller software is erroneous, the method includes: Obtain reference data and detection data corresponding to each moment when the vehicle is driving on different actual roads. The data obtained by lidar and inertial navigation is used as reference data, and the data obtained by vehicle sensors and forward-looking cameras is used as detection data.

4. The software verification method according to claim 3, wherein: After the step of obtaining the reference data and detection data corresponding to each moment when the vehicle travels on different roads, the method includes: Compare the reference data and test data corresponding to the same moment respectively; If the comparison results are the same, the verification result of the assisted driving controller software is that the assisted driving controller software is incorrect.

5. The software verification method according to claim 4, wherein: After the step of comparing the reference data and the detection data corresponding to the same moment, the method includes: If the comparison results of the reference data and the test data corresponding to any moment are different, the verification result of the assisted driving controller software is that the assisted driving controller software is correct.

6. A software verification device for implementing the software verification method according to claim 1, characterized in that: The software verification device comprises: a screening module, configured to screen detection data according to preset screening conditions if the verification result of the assisted driving controller software is that the assisted driving controller software is erroneous, wherein the detection data is data acquired by the vehicle sensors and the front-view camera when the vehicle is driving on different actual roads; Update module, used to update the assisted driving controller software; An input module, configured to input the filtered detection data into the updated assisted driving controller software, and obtain a processing result of the filtered detection data output by the updated assisted driving controller software; A verification result obtaining module is used to verify that the updated assisted driving controller software is correct if the processing result is the same as the preset result; The execution module is used to use the updated assisted driving controller software as the assisted driving controller software and execute the step of updating the assisted driving controller software if the processing result is different from the preset result.

7. A software verification device, characterized in that: The software verification device includes a processor, a memory, and a software verification program stored in the memory and executable by the processor, wherein when the software verification program is executed by the processor, the steps of the software verification method according to any one of claims 1 to 5 are implemented.

8. A readable storage medium, characterized in that: The readable storage medium stores a software verification program, wherein when the software verification program is executed by a processor, the steps of the software verification method according to any one of claims 1 to 5 are implemented.

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