Map matching test scenario building method suitable for V2X site test system

Abstract

The application provides a map matching test scene building method suitable for a V2X field test system, and comprises the following steps: selecting a test road and collecting road information; data processing, encapsulating an OpenDrive file and importing the OpenDrive file into a VTD; adding traffic elements; adding phase attributes, generating an xml file; starting a vehicle under test and driving on the road according to a predetermined road. The application has the beneficial effects that: a vehicle-mounted information simulation device can record vehicle under test information, network connection test environment information and sound and light alarm information in real time, three types of data are transmitted in a wired form, the accurate synchronization of test data is ensured, the time delay can be controlled within 10 ms, automatic test analysis software supports data playback, analysis and statistics, information such as test execution progress and test results can be displayed, and in addition, the storage and analysis of data packets in the test process can display at least the effective information of a real vehicle under test, virtual background vehicles and virtual roadside facilities.

Description

Technical Field

[0001] This invention belongs to the field of V2X virtual-real fusion testing technology, and in particular relates to a method for building a map matching test scenario suitable for V2X site testing systems. Background Technology

[0002] With the development and maturation of automotive technology, vehicle safety has become an increasingly important concern. In traditional automotive testing, a car is a closed system; during the development and verification phase, we only need to focus on the car's performance and functions. However, in the context of intelligent connected vehicle testing and development, the car is no longer a single, independent entity, but rather a terminal within the connected testing environment. Single-vehicle intelligence is no longer sufficient to meet development needs. The ability of the tested vehicle to interact with environmental information and background vehicles has become a hot topic and focus in the field of intelligent connected vehicle technology. Therefore, intelligent connected vehicle testing systems are a crucial component of the entire vehicle development process. Effective virtual-real hybrid V2X test systems significantly reduce testing costs, allow for iterative testing, enable rapid deployment of test systems, and cover large-scale, hazardous, and extreme testing conditions. They can effectively avoid the risks of real-vehicle collisions, minimizing injuries to personnel and vehicles. Summary of the Invention

[0003] In view of this, the present invention aims to propose a map matching test scenario construction method suitable for V2X field testing systems, in order to solve the problems of high cost, high risk and high site requirements of V2X field testing. This method effectively integrates virtual traffic scenarios with real test vehicles and test roads, avoiding the equipment and labor costs incurred by installing roadside facilities (traffic signs, traffic lights, etc.). It retains the real test vehicles, overcomes the site limitations of V2X functional testing, and effectively avoids the risk of real vehicle collisions, minimizing the damage to personnel, vehicles, and V2X-related test equipment.

[0004] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0005] A method for building a map matching test scenario suitable for a V2X field testing system includes a V2X field testing system. The V2X field testing system includes a real vehicle under test, an onboard information simulation device, a VTD (Vehicle Detection and Analysis) system, and automated test analysis software. The onboard information simulation device is installed on the real vehicle under test. The VTD and the automated test analysis software are both installed on a PC. The onboard information simulation device is connected to the real vehicle under test via V2X communication. The onboard information simulation device is connected to the VTD and the automated test analysis software via signals. The automated test analysis software is connected to the VTD via signals.

[0006] A method for building a map matching test scenario suitable for a V2X site testing system includes the following steps:

[0007] Step 1: According to the test requirements, select the actual test road to be driven during the test, and collect the heading, elevation, slope, curvature, and road network logical relationship test road information of the actual test road;

[0008] Step 2: Process the road information collected in Step 1, including data processing, element recognition, and manual verification, and package it into a road file in OpenDrive data format;

[0009] Step 3: Import the road file in OpenDrive data format into VTD, and use the UTM projection principle to match the origin of the geodetic coordinate system in VTD with the latitude and longitude corresponding to the starting point in the real test road;

[0010] Step 4: Add traffic signs, traffic lights, and background vehicle traffic elements to the virtual road mapped from the real test road; at the same time, add the virtual vehicle under test to the virtual road mapped from the real test road.

[0011] Step 5: Based on the requirements of the test scenario, add phase attributes to the traffic lights in the virtual scene, add vehicle dynamics models to the virtual background vehicles, plan the driving paths of the virtual background vehicles, and generate the XML file for VTD execution, thereby completing the construction of the test scenario.

[0012] Step Six: Launch the real test vehicle on the real test road. The real test vehicle travels along the real test road route. At the same time, launch the XML file in the VTD that matches the test scenario. The virtual background vehicle also travels on the virtual road corresponding to the real test road according to the travel path. The VTD provides the real test vehicle with virtual background environment information and virtual background vehicle information in the test environment, realizing V2X communication and testing between the real test vehicle and the virtual background vehicle, and between the real test vehicle and the virtual roadside facilities.

[0013] Furthermore, the starting point of the real road is matched with the starting point of the virtual road, and the heading, slope, curvature, and road network parameters of the real test road are reflected in the virtual road.

[0014] Furthermore, traffic signs, traffic lights, and background vehicle traffic elements are added to the virtual road to provide virtual background environment information and virtual background vehicle information for the real vehicle being tested during the V2X testing process.

[0015] Furthermore, the actual vehicle under test includes an on-board unit (OBU), which communicates with the vehicle information simulation device via PC5 V2X signals.

[0016] Furthermore, the vehicle-mounted information simulation equipment includes a network-connected test environment information processing module, a V2X protocol stack, a V2X transmitter, a V2X receiver, an audible and visual alarm processing module, a test data processing module, and a GPS high-precision positioning module. The network-connected test environment information processing module is signal-connected to the V2X protocol stack and the VTD. The V2X protocol stack is connected to the on-board unit (OBU) via the V2X transmitter. The OBU is also connected to the V2X receiver via V2X communication. The audible and visual alarm processing module is signal-connected to the OBU and the test data processing module. The test data processing module is signal-connected to the V2X receiver, the automated test analysis software, and the GPS high-precision positioning module. The GPS high-precision positioning module is signal-connected to the VTD. The GPS high-precision positioning module is used to acquire the real position and attitude information of the tested vehicle in real time.

[0017] Furthermore, the vehicle information simulation equipment converts the information from the VTD connected test environment into standard V2X information via the V2X protocol stack, and establishes communication with the vehicle terminal OBU through the PC5 V2X signal; at the same time, it receives the V2X information from the vehicle terminal OBU, the audible and visual alarm information of the real vehicle under test, and the high-precision positioning information of the real vehicle under test, and sends the three types of test data to the automated test analysis software through the test data processing module.

[0018] Furthermore, the VTD is connected to the network test environment information processing module via Ethernet communication.

[0019] Furthermore, the automated test analysis software is used to receive and summarize the test data sent by the test data processing module, process and save the test data, and also trigger the VTD three-dimensional simulation test scenario to achieve time synchronization between the real vehicle under test, the vehicle information simulation equipment and the VTD.

[0020] Compared with existing technologies, the map matching test scenario construction method for V2X site testing systems described in this invention has the following advantages:

[0021] (1) The map matching test scenario construction method for V2X field test system described in this invention virtualizes the background environment information of the real test vehicle and the real test vehicle, avoiding the time and money costs incurred due to the construction of roadside facilities (traffic signs, traffic lights, etc.), and greatly shortening the time and cost of test scenario construction; compared with traditional real vehicle test methods, the test scenarios proposed by this system can be reused, and complex application scenarios, large-scale application scenarios, extreme working condition test scenarios, and dangerous working condition application scenarios can be effectively verified; the requirements for the test site are low, and only the deployment of on-board information simulation equipment and other hardware equipment in the real test vehicle and the construction of test scenarios using the map matching method are required to complete the V2X test of the relevant scenarios.

[0022] (2) The map matching test scenario construction method for V2X site testing system described in this invention has an on-board information simulation device that can record real test vehicle information, network test environment information and sound and light alarm information in real time. At the same time, all three types of test data are transmitted in wired form to ensure accurate synchronization of test data and the latency can be controlled within 10ms. The automated test analysis software supports data playback, analysis and statistics. It can display test execution progress, test results and other information. In addition, the storage and parsing of data packets during the test can at least display the effective information of the real test vehicle, the virtual background vehicle and the virtual roadside facilities. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0024] Figure 1 This is a schematic diagram of the V2X field testing system according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the map matching test scenario construction method described in an embodiment of the present invention;

[0026] Figure 3 This is a functional diagram of the vehicle information simulation device described in an embodiment of the present invention. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] Definitions:

[0031] VTD: VTD is an open platform for creating, configuring, and animatering virtual environments for testing and validating autonomous vehicles. As an open platform for the integrated solution mentioned above, it can receive vehicle position and motion information, reconstruct the 3D environment (including traffic conditions and pedestrians) in real time, calculate sensor perception and the motion of all surrounding vehicles, and so on. This data stream can be used to train AI drivers at various levels (environmental perception, sensor fusion, object recognition, path planning) and evaluate safety, comfort, and efficiency.

[0032] UTM projection principle: UTM (Universal Transverse Mercator Grid System) coordinates are a type of plane rectangular coordinates. This coordinate grid system and the projection it is based on are widely used in topographic maps, as reference grids for satellite imagery and natural resource databases, and in other applications requiring precise positioning.

[0033] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] like Figures 1 to 3As shown, the V2X field testing system consists of a vehicle under test, an onboard information simulation device, a VTD (Vehicle Detection and Analysis Device), and automated testing and analysis software. The onboard information simulation device is installed on the actual vehicle under test. The VTD and the automated testing and analysis software are both installed on a PC. The onboard information simulation device is connected to the actual vehicle under test via V2X communication. The onboard information simulation device is connected to both the VTD and the automated testing and analysis software via network cables. The automated testing and analysis software is connected to the VTD via a network cable. This V2X field testing system can effectively integrate the virtual test scenario with the real road conditions of the actual vehicle under test, providing the actual vehicle under test with virtual background environment information and virtual background vehicle information. This approach retains the real vehicle under test while overcoming the limitations of the testing site for V2X functionality.

[0035] In a preferred embodiment of the present invention, one objective of the present invention is to provide a new V2X field testing scheme for complex application scenarios, large-scale application scenarios, extreme working condition test scenarios, and dangerous working condition application scenarios. In this testing system, only by deploying onboard information simulation equipment and onboard OBU and other hardware equipment in the actual vehicle under test, and constructing the test scenario using a map matching method, the V2X test of the relevant scenario can be completed.

[0036] In a preferred embodiment of the present invention, another objective of the present invention is to provide a map matching scene construction method, which includes the following steps:

[0037] Step 1: According to the test requirements, select the actual test road to be driven during the test, and collect the heading, elevation, slope, curvature, and road network logical relationship test road information of the actual test road;

[0038] Step 2: Process the road information collected in Step 1, including data processing, element recognition, and manual verification, and package it into a road file in OpenDrive data format;

[0039] Step 3: Import the road file in OpenDrive data format into VTD, and use the UTM projection principle to match the origin of the geodetic coordinate system in VTD with the latitude and longitude corresponding to the starting point in the real test road;

[0040] Step 4: Add traffic signs, traffic lights, and background vehicle traffic elements to the virtual road mapped from the real test road; at the same time, add the virtual vehicle under test to the virtual road mapped from the real test road.

[0041] Step 5: Based on the requirements of the test scenario, add phase attributes to the traffic lights in the virtual scene, add vehicle dynamics models to the virtual background vehicles, plan the driving paths of the virtual background vehicles, and generate the XML file for VTD execution, thereby completing the construction of the test scenario.

[0042] Step Six: Launch the real test vehicle on the actual test road. The real test vehicle travels along the actual test road route. At the same time, launch the XML file in the VTD that matches the test scenario. The virtual background vehicle also travels on the virtual road corresponding to the real test road according to the travel path. The VTD provides the real test vehicle with virtual background environment information and virtual background vehicle information in the test environment, realizing V2X communication and testing between the real test vehicle and the virtual background vehicle, and between the real test vehicle and virtual roadside facilities (traffic signs, traffic lights).

[0043] In a preferred embodiment of the present invention, the map matching test scenario construction method maps the position of the real test vehicle to the position of the virtual test vehicle. Specifically, the starting point of the real road is perfectly matched with the starting point of the virtual road, and the road parameters such as the heading, slope, curvature, and road network relationship of the real test road are realistically reflected in the virtual road, thus achieving a perfect mapping of the real test road in the virtual scene.

[0044] In a preferred embodiment of the present invention, the map matching test scenario construction method adds traffic elements such as traffic signs, traffic lights, and virtual background vehicles to the virtual road, providing virtual background environment information and virtual background vehicle information for the real test vehicle during the V2X test.

[0045] In a preferred embodiment of the present invention, a virtual vehicle under test is added to the virtual road so that the operating status of the real vehicle under test can be displayed in the VTD in real time, providing testers with a more intuitive testing experience.

[0046] In a preferred embodiment of the present invention, the automated testing software establishes communication with the VTD via Ethernet, the VTD establishes communication with the vehicle information simulation device via Ethernet, and the vehicle information simulation device collects audible and visual alarm signals via the CAN interface.

[0047] In a preferred embodiment of the present invention, the real vehicle under test includes an on-board unit (OBU), which is communicatively connected to the vehicle information simulation device via a PC5 V2X signal to acquire the status information of the real vehicle under test. In this embodiment, the real vehicle under test is equipped with an OBU, which determines whether to issue a warning or take control based on its own vehicle location and status information, as well as the virtual background vehicle information and virtual roadside facility information received from the vehicle information simulation device.

[0048] In a preferred embodiment of the present invention, the vehicle-mounted information simulation device includes a network-connected test environment information processing module, a V2X protocol stack, a V2X transmitter, a V2X receiver, an audible and visual alarm processing module, a test data processing module, and a GPS high-precision positioning module. The network-connected test environment information processing module is signal-connected to the V2X protocol stack and the VTD (Vehicle Detection and Controlling Unit). The V2X protocol stack is connected to the on-board unit (OBU) via the V2X transmitter. The OBU is also connected to the V2X receiver via V2X communication. The audible and visual alarm processing module is signal-connected to the OBU and the test data processing module. The test data processing module is signal-connected to the V2X receiver, the automated test analysis software, and the GPS high-precision positioning module. The GPS high-precision positioning module is signal-connected to the VTD and is used to acquire the real position and attitude information of the tested vehicle in real time. This vehicle-mounted information simulation device has functions such as parsing and transmitting / receiving V2X information, and processing virtual scenes and audible and visual alarm information.

[0049] In a preferred embodiment of the present invention, the vehicle information simulation device converts the information from the VTD connected test environment into standard V2X information via the V2X protocol stack, and establishes communication with the vehicle terminal OBU via PC5 V2X signal; at the same time, it receives the V2X information from the vehicle terminal OBU, the audible and visual alarm information of the actual vehicle under test, and the high-precision positioning information of the actual vehicle under test, and sends the three types of test data to the automated test analysis software through the test data processing module.

[0050] In a preferred embodiment of the present invention, the vehicle information simulation device can record real-time information of the vehicle under test, information of the network test environment, and information of sound and light alarms. At the same time, all three types of test data are transmitted in wired form to ensure accurate synchronization of test data, and the latency can be controlled within 10ms.

[0051] In a preferred embodiment of the present invention, the VTD is a three-dimensional simulation software. The VTD communicates with the network test environment information processing module of the vehicle information simulation device via Ethernet. At the same time, the VTD packages the virtual background environment information and virtual background vehicle information in the test scenario into five types of messages and sends them to the vehicle information environment simulation device.

[0052] In a preferred embodiment of the present invention, the automated test analysis software is used to receive and summarize the data sent by the vehicle information simulation device, process and save the test data, and also trigger the VTD three-dimensional simulation test scenario to achieve time synchronization of the real vehicle under test, the vehicle information simulation device and the VTD.

[0053] In a preferred embodiment of the present invention, the testing steps of the V2X site testing system are as follows:

[0054] First, based on real test roads, a virtual simulation environment for the real test vehicle is built in VTD using map matching methods;

[0055] Then, the VTD test scenario and the real test vehicle are started simultaneously. The real test vehicle travels along the predetermined trajectory. At the same time, the GPS high-precision positioning module in the vehicle information simulation device transmits the positioning information of the real test vehicle to the VTD. Meanwhile, the network environment information generated in the VTD is packaged into a standard V2X message and sent to the vehicle terminal OBU through the V2X protocol stack and V2X transmitter in the vehicle information simulation device.

[0056] Next, the on-board unit (OBU) determines whether to issue a warning or take control based on the vehicle's location and status information, as well as the virtual background vehicle information and virtual roadside facility information received from the on-board information simulation device. At the same time, the on-board unit (OBU) sends the vehicle-to-vehicle (V2X) messages of the real vehicle being tested to the on-board information simulation device via the V2X receiver. The on-board information simulation device collects the alarm signals generated by the real vehicle being tested.

[0057] Next, the vehicle information simulation equipment will send the V2X signals generated by the actual vehicle under test, the collected audible and visual alarm signals, and the high-precision positioning information of the actual vehicle under test to the automated test analysis software through the test data processing module.

[0058] Finally, the automated test analysis software analyzes the test data from the vehicle information simulation equipment according to the evaluation and analysis methods of different test cases and the corresponding characteristic indicators, generates an automated test report, and completes the V2X field test for the corresponding scenario.

[0059] Example 1

[0060] I. For example Figure 1-3 As shown, the specific testing method for a V2X site testing system based on map matching scene construction is as follows:

[0061] (1) Based on the test cases and the test roads of the real test vehicles, the V2X test scenario is built using the map matching method, and a virtual traffic information environment and virtual background vehicle information of the real test vehicles are created.

[0062] (2) Deploy hardware devices such as on-board unit (OBU) and on-board information simulation equipment on the actual vehicle under test, and drive the actual vehicle under test on the selected real road.

[0063] (3) Start the VTD test scenario and the real test vehicle. It is necessary to ensure that the actual position of the real test vehicle is consistent with the position of the VTD test scenario, and that the real test vehicle and the virtual background vehicle travel according to the predetermined route and speed.

[0064] (4) Next, the virtual background environment information and virtual background vehicle information generated by the VTD test scenario are packaged into five message sets: BSM, SPAT, RSI, RSM and MAP. The five message sets are encoded into standard V2X messages by the vehicle information simulation equipment and sent to the vehicle terminal OBU through the V2X transmitter.

[0065] (5) The vehicle-mounted unit (OBU) determines whether to issue a warning or control based on the vehicle's location (the actual vehicle under test) and status information, as well as the virtual background vehicle information and virtual roadside facility information received from the vehicle information simulation device. At the same time, the vehicle-mounted unit (OBU) sends the V2X message of the actual vehicle under test to the vehicle information simulation device, and the vehicle information simulation device collects the alarm signal generated by the actual vehicle under test.

[0066] (6) The data processing module in the vehicle information simulation equipment summarizes the V2X messages, audible and visual alarm information and high-precision positioning information of the real vehicle under test, and forwards them to the automated test and analysis software.

[0067] (7) The automated test analysis software analyzes the test data from the vehicle information simulation equipment according to the evaluation and analysis methods of different test cases and the corresponding characteristic indicators, verifies whether the warning of the real vehicle under test is correct, generates the corresponding test report, and completes the V2X field test for the corresponding scenario.

[0068] II. Figure 2 As shown, the specific method for building a map matching scene is as follows:

[0069] Step 1: According to the test case requirements, select the actual test road where the vehicle under test travels, and collect test road information such as heading, elevation, slope, curvature, and road network logical relationships.

[0070] Step 2: Process the road information collected in Step 1, including data processing, element recognition, and manual verification, and package it into a road file in OpenDrive data format;

[0071] Step 3: Import the road file in OpenDrive data format into VTD, and use the UTM projection principle to match the origin of the geodetic coordinate system in VTD with the latitude and longitude corresponding to the starting point of the real road.

[0072] Step 4: Add traffic elements such as traffic lights, speed limit signs, pedestrians, and virtual background vehicles to the virtual road corresponding to the real road, so that all possible abnormal situations on the actual road are included in the scene; at the same time, add virtual test vehicles to the virtual road mapped from the real test road.

[0073] Step 5: Based on the test case requirements, add phase attributes to the traffic lights in the virtual scene, add vehicle dynamics models to the virtual background vehicles, plan the driving paths of the virtual background vehicles, add relevant attributes to pedestrians, obstacles, etc., and generate an executable XML file for VTD.

[0074] Step Six: Start the real test vehicle on a real road. The real test vehicle travels along the predetermined route. At the same time, start the XML file in the VTD that matches the test scenario. The virtual background vehicle also travels along the predetermined route on the virtual road corresponding to the real road. It is necessary to ensure that the actual position of the real test vehicle is consistent with the position of the VTD test scenario.

[0075] III. Figure 3 As shown, the functional description of the vehicle information simulation equipment is as follows:

[0076] (1) Send the GPS location information of the actual vehicle under test to the test data processing module and VTD.

[0077] The GPS high-precision positioning module in the vehicle information simulation equipment collects the positioning information of the real vehicle under test in real time. On the one hand, it sends the information to the VTD for the location correspondence and display between the virtual vehicle under test and the real vehicle under test, and on the other hand, it sends the information to the test data processing module for test result analysis.

[0078] (2) Processing virtual background environment information

[0079] The connected test environment information processing module in the vehicle information simulation equipment receives virtual background environment information from the VTD and sends the processed information to the V2X protocol stack.

[0080] (3) Encoding and parsing V2X messages

[0081] The V2X protocol stack in the vehicle information simulation equipment encodes five types of message sets in the virtual traffic environment into standard V2X messages, and parses the received standard V2X message packets.

[0082] (4) Send standard V2X messages

[0083] The V2X transmitter in the vehicle information simulation equipment sends standard V2X message packets to the on-board unit (OBU) of the actual vehicle under test via PC5 communication.

[0084] The system receives standard V2X messages from the on-board unit (OBU) of the actual vehicle under test via a V2X receiver.

[0085] (5) Receive standard V2X messages and forward them to the test data processing module.

[0086] The V2X receiver in the vehicle information simulation equipment receives standard V2X messages from the real vehicle under test and sends the V2X messages to the test data processing module.

[0087] (6) Capture the audible and visual alarm signals and forward them to the test data processing module.

[0088] The audible and visual alarm processing module in the vehicle information simulation equipment is used to collect the warning signals of the actual vehicle under test and send the warning signals to the test data processing module.

[0089] (7) Collect the V2X messages, warning signals and high-precision positioning information of the actual test vehicle and send them to the automated test software.

[0090] The test data processing module in the vehicle information simulation equipment is used to summarize the V2X messages, warning signals and high-precision positioning information of the real vehicle under test, and send the three types of signals to the automated test analysis software.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for building a map matching test scenario suitable for a V2X site testing system, characterized in that: Includes the following steps: Step 1: According to the test requirements, select the actual test road suitable for the V2X field test system to drive on, and collect the heading, elevation, slope, curvature, and road network logical relationship of the actual test road as test road information; Step 2: Process the road information collected in Step 1, identify elements, and perform manual verification, then package it into a road file in OpenDrive data format; Step 3: Import the road file in OpenDrive data format into VTD, and use the UTM projection principle to match the origin of the geodetic coordinate system in VTD with the latitude and longitude corresponding to the starting point in the real test road; Step 4: Add traffic signs, traffic lights, and background vehicle traffic elements to the virtual road mapped from the real test road; at the same time, add the virtual vehicle under test to the virtual road mapped from the real test road. Step 5: Based on the requirements of the test scenario, add phase attributes to the traffic lights in the virtual scene, add vehicle dynamics models to the virtual background vehicles, plan the driving paths of the virtual background vehicles, and generate the XML file for VTD execution, thereby completing the construction of the test scenario. Step Six: Start the real test vehicle on the real test road. The real test vehicle travels according to the real test road route. At the same time, start the XML file in VTD that matches the test scenario. The virtual background vehicle also travels on the virtual road corresponding to the real test road according to the travel path. VTD provides the real test vehicle with virtual background environment information and virtual background vehicle information in the test environment, realizing V2X communication and testing between the real test vehicle and the virtual background vehicle, and between the real test vehicle and the virtual roadside facilities. The V2X field testing system consists of a real vehicle under test, an onboard information simulation device, a VTD (Vehicle Detection and Analysis) system, and automated test and analysis software. The real vehicle under test includes an onboard unit (OBU). The onboard information simulation device is installed on the real vehicle under test. The VTD and the automated test and analysis software are both installed on a PC. The onboard information simulation device is connected to the real vehicle under test via V2X communication. The onboard information simulation device is connected to the VTD and the automated test and analysis software via signals. The automated test and analysis software is connected to the VTD via signals. The vehicle-mounted information simulation equipment includes a network-connected test environment information processing module, a V2X protocol stack, a V2X transmitter, a V2X receiver, an audible and visual alarm processing module, a test data processing module, and a GPS high-precision positioning module. The network-connected test environment information processing module is signal-connected to the V2X protocol stack and the VTD. The V2X protocol stack is connected to the on-board unit (OBU) via the V2X transmitter. The OBU is also connected to the V2X receiver via V2X communication. The audible and visual alarm processing module is signal-connected to the OBU and the test data processing module. The test data processing module is signal-connected to the V2X receiver, the automated test analysis software, and the GPS high-precision positioning module. The GPS high-precision positioning module is signal-connected to the VTD. The GPS high-precision positioning module is used to acquire the real position and attitude information of the vehicle under test in real time. The testing steps for the V2X field testing system are as follows: First, based on real test roads, a virtual simulation environment for the real test vehicle is built in VTD using map matching methods; Then, the VTD test scenario and the real test vehicle are started simultaneously. The real test vehicle travels along the predetermined trajectory. At the same time, the GPS high-precision positioning module in the vehicle information simulation device transmits the positioning information of the real test vehicle to the VTD. Meanwhile, the network environment information generated in the VTD is packaged into a standard V2X message and sent to the vehicle terminal OBU through the V2X protocol stack and V2X transmitter in the vehicle information simulation device. Next, the on-board unit (OBU) determines whether to issue a warning or take control based on the vehicle's location and status information, as well as the virtual background vehicle information and virtual roadside facility information received from the on-board information simulation device. At the same time, the on-board unit (OBU) sends the vehicle-to-vehicle (V2X) messages of the real vehicle being tested to the on-board information simulation device via the V2X receiver. The on-board information simulation device collects the alarm signals generated by the real vehicle being tested. Next, the vehicle information simulation equipment will send the V2X signals generated by the actual vehicle under test, the collected audible and visual alarm signals, and the high-precision positioning information of the actual vehicle under test to the automated test analysis software through the test data processing module. Finally, the automated test analysis software analyzes the test data from the vehicle information simulation equipment according to the evaluation and analysis methods of different test cases and the corresponding characteristic indicators, generates an automated test report, and completes the V2X field test for the corresponding scenario.

2. The method for building a map matching test scenario for a V2X site testing system according to claim 1, characterized in that: The starting point of the real test road is matched with the starting point of the virtual road, and the heading, slope, curvature, road network relationship and other road parameters of the real test road are reflected in the virtual road.

3. The method for building a map matching test scenario for a V2X site testing system according to claim 1, characterized in that: Traffic signs, traffic lights, and background vehicle traffic elements are added to the virtual road to provide virtual background environment information and virtual background vehicle information for the real vehicle being tested during V2X testing.

4. The method for building a map matching test scenario for a V2X site testing system according to claim 1, characterized in that: The vehicle-mounted terminal (OBU) is connected to the vehicle information simulation device via PC5 V2X signal.

5. The method for building a map matching test scenario for a V2X site testing system according to claim 1, characterized in that: The vehicle information simulation equipment converts the information from the VTD connected test environment into standard V2X information through the V2X protocol stack, and establishes communication with the vehicle terminal OBU through the PC5 V2X signal; at the same time, it receives the V2X information from the vehicle terminal OBU, the audible and visual alarm information of the real vehicle under test, and the high-precision positioning information of the real vehicle under test, and sends the three types of test data to the automated test analysis software through the test data processing module.

6. The method for building a map matching test scenario for a V2X site testing system according to claim 1, characterized in that: The VTD and the network-connected test environment information processing module are connected via Ethernet communication.

7. The method for building a map matching test scenario for a V2X site testing system according to claim 1, characterized in that: The automated test analysis software is used to receive and summarize the test data sent by the test data processing module, process and save the test data, and can also trigger the VTD three-dimensional simulation test scenario to achieve time synchronization between the real vehicle under test, the vehicle information simulation equipment and the VTD.

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