Simulation test method, system, device and storage medium

Abstract

The application provides a simulation test method, system, device and storage medium. The simulation test method comprises the following steps: determining a target model in a static state selected by a user in simulation test software and a sensor configured for the target model; sending driving information of a target vehicle to a cloud server and sending driving information of a host vehicle to a vehicle server; the cloud server is configured to send driving information of an obstacle vehicle affecting driving of the host vehicle to the vehicle server; the vehicle server is configured to determine control information for the host vehicle according to the driving information of the obstacle vehicle affecting driving of the host vehicle, the driving information of the host vehicle and an obstacle avoidance algorithm; receiving the control information sent by the vehicle server and controlling operation of the host vehicle in the simulation test software; and outputting a test result according to an operation result. The roadside unit is simulated based on the model and the sensor selected by the user, so that the simulation test software is used to realize vehicle-cloud collaborative simulation test, a test platform does not need to be built, and the method has the advantages of simple implementation.

Description

Technical Field

[0001] This invention relates to the field of simulation testing technology, and in particular to a simulation testing method, system, device and storage medium. Background Technology

[0002] With the rapid development of intelligent driving technology, scenario-based simulation is becoming increasingly important in order to better optimize intelligent driving algorithms.

[0003] As the level of autonomous driving increases, cloud servers are increasingly required for information transmission and the issuance of some commands. For example, an autonomous driving system includes a cloud server, a vehicle-side server, and roadside units. Roadside units collect vehicle driving information and send it to the cloud server, which then retransmits this information to the vehicle-side server, enabling it to acquire more road condition information. The vehicle-side server deploys software to control the main vehicle. Software-in-the-loop (SIL) simulation testing is used to verify the software deployed on the vehicle-side server. Achieving SIL simulation testing under vehicle-cloud collaboration is an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a simulation testing method, system, device, and storage medium to solve the problem that existing technologies cannot achieve software-in-the-loop simulation testing under vehicle-cloud collaboration.

[0005] In a first aspect, the present invention provides a simulation testing method, the method being applied to a testing terminal, the testing terminal being equipped with simulation testing software; the method includes:

[0006] The system determines the target model selected by the user in the simulation testing software, and the sensors configured for the target model; the sensors are used to sense the driving information of the target vehicle in the test site; the target model is in a stationary state; the target vehicle includes obstacle vehicles and the main vehicle;

[0007] The system sends the driving information of the target vehicle to the cloud server and the driving information of the main vehicle to the vehicle server; the cloud server is used to send the driving information of obstacle vehicles affecting the driving of the main vehicle to the vehicle server; the vehicle server is used to determine the control information of the main vehicle based on the driving information of obstacle vehicles affecting the driving of the main vehicle, the driving information of the main vehicle, and the obstacle avoidance algorithm.

[0008] The system receives control information sent by the vehicle-side server, controls the operation of the main vehicle in the simulation test software according to the control information, and outputs test results based on the operation results.

[0009] Optionally, the test terminal is also equipped with modeling tools; the method further includes:

[0010] Determine the first identification information of the sensor and the second identification information of the main vehicle created in the simulation test software;

[0011] The modeling tool is configured with a first interface corresponding to the first identification information and a second interface corresponding to the second identification information.

[0012] Accordingly, the driving information of the target vehicle is sent to the cloud server, and the driving information of the main vehicle is sent to the vehicle-side server, including:

[0013] The vehicle's driving information is sent to the cloud server through the first interface, and the vehicle's driving information is sent to the vehicle-side server through the second interface.

[0014] Optionally, the method further includes:

[0015] Receive the port information and IP address information of the cloud server input by the user in the modeling tool;

[0016] Accordingly, the driving information of the target vehicle is sent to the cloud server through the first interface, including:

[0017] Based on the port information and the IP address information, the driving information of the target vehicle is sent to the corresponding cloud server via User Datagram Protocol (UDP).

[0018] Optionally, the control information includes acceleration and steering wheel angle; controlling the operation of the main vehicle in the simulation test software according to the control information includes:

[0019] The modeling tool determines longitudinal control information based on the vehicle's driving information and acceleration; the longitudinal control information includes throttle opening or brake pedal force.

[0020] The simulation test software sends longitudinal control information and steering wheel angle to the host vehicle so that the host vehicle can operate according to the longitudinal control information and steering wheel angle.

[0021] Optionally, the step of outputting test results based on the running results includes:

[0022] When the test result indicates that the main vehicle collides with an obstacle vehicle, the test result indicates that there is a problem with the obstacle avoidance algorithm in the vehicle-side server.

[0023] Optionally, when the test site contains a main vehicle and no obstacle vehicles, the sensor is also used to sense preset driving information of the main vehicle; the preset driving information includes coordinate points passed during the driving process, and the speed and acceleration information corresponding to the coordinate points; the method further includes:

[0024] The modeling tool sends the driving information of the main vehicle sensed by the sensor to the cloud server, so that during the simulation test phase, the cloud server determines the tracking instruction based on the driving information of the main vehicle and sends the tracking instruction to the vehicle-side server; the tracking instruction is used to instruct the main vehicle to drive according to the preset driving information.

[0025] Optionally, the step of outputting test results based on the running results includes:

[0026] When the running result is that the main vehicle does not drive according to the preset driving information, the test result is that the control algorithm in the vehicle-side server is faulty, and / or that there is a problem with the transmission channel between the cloud server and the vehicle-side server.

[0027] Secondly, the present invention provides a simulation testing system, the system comprising: a test terminal, a cloud server, and a vehicle-side server; the test terminal is equipped with simulation testing software.

[0028] The test terminal is used to determine the target model selected by the user in the simulation test software, and the sensors configured for the target model; the sensors are used to sense the driving information of the target vehicle in the test site; the target model is in a stationary state; the driving information of the target vehicle is sent to the cloud server, and the driving information of the main vehicle is sent to the vehicle-side server; the target vehicle includes obstacle vehicles and the main vehicle;

[0029] The cloud server is used to send driving information of obstructing vehicles that affect the driving of the main vehicle to the vehicle-side server;

[0030] The vehicle-side server is used to determine control information for the main vehicle based on the driving information of obstacle vehicles affecting the driving of the main vehicle, the driving information of the main vehicle, and the obstacle avoidance algorithm.

[0031] The test terminal is also used to receive control information sent by the vehicle-side server, control the operation of the main vehicle in the simulation test software according to the control information, and output test results according to the operation results.

[0032] Thirdly, the invention provides an electronic device comprising: at least one processor and a memory;

[0033] The memory stores computer-executed instructions;

[0034] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in any of the first aspects.

[0035] Fourthly, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in any of the first aspects.

[0036] This invention provides a simulation testing method, system, device, and storage medium. It determines the target model selected by the user in the simulation testing software, and the sensors configured for the target model; sends the driving information of the target vehicle to a cloud server, and sends the driving information of the main vehicle to a vehicle-side server; the cloud server sends the driving information of obstacle vehicles affecting the driving of the main vehicle to the vehicle-side server; the vehicle-side server determines control information for the main vehicle based on the driving information of the obstacle vehicles affecting the driving of the main vehicle, the driving information of the main vehicle, and an obstacle avoidance algorithm; receives the control information sent by the vehicle-side server, and controls the operation of the main vehicle in the simulation testing software according to the control information; outputs test results based on the operation results; and simulates roadside units based on the user-selected model and correspondingly set sensors, thereby realizing vehicle-cloud collaborative simulation testing based on simulation testing software. This eliminates the need to build a test platform and has the advantage of simple implementation. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0038] Figure 1 This is an application scenario diagram of a simulation testing method provided in an embodiment of the present invention;

[0039] Figure 2 A flowchart illustrating a simulation testing method provided in an embodiment of the present invention;

[0040] Figure 3 A schematic diagram illustrating the implementation of a simulation testing method according to an embodiment of the present invention;

[0041] Figure 4 A flowchart illustrating another simulation testing method provided in an embodiment of the present invention;

[0042] Figure 5 A structural diagram of a simulation testing system provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention.

[0044] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0045] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0046] In the field of autonomous driving, in order to reduce vehicle costs and improve the level of vehicle automation, the way of interacting with vehicles through cloud servers is becoming increasingly common. Figure 1 This is an application scenario diagram of a simulation testing method provided in an embodiment of the present invention, such as... Figure 1 As shown, during vehicle operation, multiple roadside units are typically installed on the road. Each roadside unit can sense vehicle information within a certain range. By sending the driving information of vehicles on the road to the cloud server, the cloud server filters the received driving information and sends the driving information of vehicles that affect the main vehicle's driving to the vehicle-side server. This allows the vehicle-side server to make accurate control commands based on more driving information of other vehicles when issuing control commands.

[0047] In the aforementioned vehicle-cloud collaborative simulation scenario, data transmission is required between the roadside unit, the cloud server, and the vehicle server. At the same time, various algorithms for controlling the vehicle are deployed on the vehicle server. Before being put into use, software-in-the-loop simulation testing is required.

[0048] In existing technologies, vehicle-to-cloud collaborative simulation requires the construction of a dedicated simulation testing platform. However, some automakers lack the technical capabilities and R&D time to build such a platform, thus limiting the technology's effectiveness. ScaneR, a commonly used simulation testing software, includes the tools and models needed to construct vehicle driving scenarios, such as road environment, vehicle dynamics, sensors, driver, headlights, and weather conditions. Vehicle-to-cloud collaborative simulation based on ScaneR offers advantages such as low technical barriers, minimal investment, and ease of implementation. However, ScaneR does not include roadside unit models, which are crucial in vehicle-to-cloud collaborative simulation. Without roadside unit models, comprehensive vehicle driving information in the test scenario cannot be obtained.

[0049] Based on the above problems, how to simulate roadside units is an urgent technical issue to be addressed when using the simulation testing software SCANeR for vehicle-to-cloud (V2X) collaborative simulation testing. This application achieves the simulation of roadside units by acquiring a stationary target model selected by the user in the simulation testing software and configuring sensors for the target model. The method then transmits the driving information of obstacle vehicles within the test scenario acquired by the sensors, realizing software-in-the-loop simulation testing of V2X collaborative systems. This method eliminates the need for a test platform and has low cost.

[0050] Figure 2 This is a flowchart illustrating a simulation testing method provided in an embodiment of the present invention. The method includes steps S201 to S203:

[0051] Step S201: Determine the target model selected by the user in the simulation test software, and the sensors configured for the target model.

[0052] The sensors are used to sense the driving information of the target vehicles in the test site; the target model is in a stationary state; the target vehicles include obstacle vehicles and the main vehicle.

[0053] When using the simulation testing software SCANeR for vehicle-cloud collaboration simulation testing, users can build test scenarios within the simulation testing software. For example, the simulation testing software includes models such as roads, obstacle vehicles, main vehicles, pedestrians, and traffic lights. Test scenarios can be built by the model selected by the user.

[0054] The simulation testing software does not include a roadside device model. However, in actual vehicle-to-cloud (V2X) collaborative scenarios, roadside units are required to collect obstacle information from the test site. For V2X collaborative simulation testing, a user-selected target model is used as the roadside device. This target model can be a vehicle model, a pedestrian model, etc. In practice, since the position of the roadside device does not change, the state of the user-selected target model can be set to a static state.

[0055] To simulate roadside equipment, sensors need to be set up for the selected target model, with the sensors covering the entire test site. By using the user-selected target model and the corresponding sensors, roadside equipment can be simulated. The information acquired by the sensors includes information about obstacles and the driving information of the main vehicle within the entire test site. Here, obstacle information primarily refers to the driving information of the obstructing vehicles, but may also include pedestrian information, etc.

[0056] Step S202: Send the target vehicle's driving information to the cloud server, and send the main vehicle's driving information to the vehicle-side server.

[0057] The cloud server is used to send the driving information of obstacle vehicles affecting the driving of the main vehicle to the vehicle server; the vehicle server is used to determine the control information of the main vehicle based on the driving information of obstacle vehicles affecting the driving of the main vehicle, the driving information of the main vehicle, and the obstacle avoidance algorithm.

[0058] After acquiring the target vehicle's driving information, this information can be sent to the cloud server. Simultaneously, the main vehicle's driving information can also be sent to the vehicle-side server. Specifically, sending the target vehicle's driving information to the cloud server involves sending the driving information of obstacle vehicles sensed by the sensors, along with the main vehicle's driving information. Sending the main vehicle's driving information to the vehicle-side server involves sending the main vehicle's own perceived driving information. Here, the cloud server refers to the operating system within the cloud server, and the vehicle-side server refers to the operating system within the vehicle-side server. The vehicle-side server stores the obstacle avoidance algorithm used to control the main vehicle.

[0059] By sending the driving information of obstacle vehicles and the main vehicle, sensed by sensors, to a cloud server, the driving information includes: vehicle length, width, height, speed, yaw angle, lateral acceleration, longitudinal acceleration, and position information. Utilizing the computing power of the cloud server, obstacle vehicles that affect the main vehicle can be identified based on the driving information of the main vehicle and each obstacle vehicle. For example, obstacle vehicles affecting the main vehicle are those that are close to the main vehicle and / or will be close to the main vehicle's position at some future time. Once the cloud server has identified the obstacle vehicles affecting the main vehicle, it can send their driving information to the vehicle-side server. By receiving the driving information of obstacle vehicles affecting the main vehicle from the server, the vehicle-side server can obtain more driving information about obstacle vehicles, enabling accurate control of the main vehicle, such as collision avoidance. Finally, the vehicle-side server generates control information and sends it to the test terminal.

[0060] Step S203: Receive control information sent by the vehicle-side server, control the operation of the main vehicle in the simulation test software according to the control information, and output the test results according to the operation results.

[0061] The simulation testing software can also receive control information from the vehicle-side server and control the operation of the main vehicle based on the control information. After the main vehicle is running, it can output the running results, such as whether the main vehicle collides with or does not collide with the obstacle vehicle, so that the simulation test results can be determined based on the results.

[0062] This invention provides a simulation testing method that determines the target model selected by the user in the simulation testing software, and the sensors configured for the target model. The sensors are used to sense the driving information of the target vehicle in the test site. The driving information of the target vehicle is sent to a cloud server, and the driving information of the master vehicle is sent to a vehicle-side server. The cloud server is used to send the driving information of obstacle vehicles affecting the driving of the master vehicle to the vehicle-side server. The vehicle-side server is used to determine the control information for the master vehicle based on the driving information of obstacle vehicles affecting the driving of the master vehicle, the driving information of the master vehicle, and the obstacle avoidance algorithm. The method receives the control information sent by the vehicle-side server and controls the operation of the master vehicle in the simulation testing software according to the control information. The method outputs the test results based on the operation results. By simulating roadside units based on the user-selected model and the corresponding sensors, vehicle-cloud collaborative simulation testing based on simulation testing software is realized. This eliminates the need to build a test platform and has the advantage of simple implementation.

[0063] Figure 3 This is a schematic diagram illustrating the implementation of a simulation testing method according to an embodiment of the present invention. Optionally, the testing terminal is further equipped with a modeling tool; the method also includes:

[0064] Determine the first identification information of the sensors and the second identification information of the main vehicle created in the simulation test software;

[0065] In the modeling tool, set a first interface corresponding to the first identification information, and a second interface corresponding to the second identification information;

[0066] Accordingly, the driving information of the target vehicle is sent to the cloud server, and the driving information of the main vehicle is sent to the vehicle-side server, including:

[0067] The system sends the target vehicle's driving information to the cloud server via the first interface, and sends the main vehicle's driving information to the vehicle-side server via the second interface.

[0068] One of the issues in the simulation testing process is how the simulation testing software sends the driving information of the target vehicle perceived by the sensors to the cloud server, and how it sends the driving information of the main vehicle perceived by itself to the vehicle-side server, so as to establish data transmission between the simulation testing software and the vehicle-side server or the cloud server.

[0069] like Figure 3 As shown, the test terminal is also equipped with a modeling tool, which has an interface that can establish a transmission channel between the simulation test software and the cloud server and / or the vehicle-side server.

[0070] The simulation testing software ScaneR provides multiple interfaces (Application Program Interface, API) to the modeling tool Simulink, enabling Simulink to obtain the target vehicle's driving information perceived by the sensors and the main vehicle's driving information perceived by the main vehicle from the simulation testing software ScaneR, and then send the above information to the cloud server and the vehicle server respectively.

[0071] Specifically, after setting up vehicle and sensor models in the simulation testing software, the corresponding interfaces need to be configured in the modeling tool. Specifically, the first identification information of the sensors configured for the target model in the simulation testing software can be determined first. This first identification information includes the model name and ID information, such as the sensor name being "sensor" and the ID name being "01001". Additionally, the second identification information of the main vehicle in the simulation testing software can also be determined, such as the main vehicle name being "vehicle" and the ID name being "01010".

[0072] After determining the identification information of the above model in the simulation test software, a first interface corresponding to the first identification information and a second interface corresponding to the second identification information can be set in the modeling tool. This enables the corresponding interface in the modeling tool to obtain the corresponding driving information when the sensors and / or the main vehicle in the simulation test software perceive driving information. Based on the first interface in the modeling tool, the driving information of the target vehicle can be sent to the cloud server, and based on the second interface, the driving information of the main vehicle can be sent to the vehicle-side server.

[0073] By utilizing the interface provided by the simulation testing software to the modeling tools, the driving information acquired by each model in the simulation testing software can be easily transmitted, and the accurate transmission of information can be achieved based on the interface identification information.

[0074] Optionally, the method further includes:

[0075] Receive the port information and IP address information of the cloud server entered by the user in the modeling tool;

[0076] Accordingly, the target vehicle's driving information is sent to the cloud server through the first interface, including:

[0077] Based on the port information and IP address information, the driving information of the target vehicle is sent to the corresponding cloud server via the User Datagram Protocol (UDP).

[0078] To send the target vehicle's driving information to the cloud server, it's necessary to obtain the cloud server's port and IP address information beforehand. Specifically, the system can receive the cloud server's port and IP address information input by the user in the modeling tool. This information is entered into the location corresponding to the first interface to send the target vehicle's driving information acquired by the sensors to the cloud server. The protocol used for transmission is User Datagram Protocol (UDP).

[0079] Similarly, the vehicle's driving information is sent to the vehicle-side server via the second interface, including:

[0080] Based on the port information and IP address information of the vehicle-side server, the vehicle's driving information is sent to the vehicle-side server via the User Datagram Protocol (UDP).

[0081] Specifically, the system can pre-receive the port information and IP address information of the vehicle-side server input by the user in the modeling tool. This information is then input into the location corresponding to the second interface to transmit the vehicle's driving information perceived by the main vehicle to the vehicle-side server. Sending the main vehicle's driving information to the vehicle-side server via the main vehicle's corresponding interface has advantages over sending driving information from a cloud server to the main vehicle server, including lower latency and reduced error rates.

[0082] By setting the port information and IP address information of the cloud server in the interface of the modeling tool, the driving information of the target vehicle can be accurately transmitted to the cloud server, thus achieving accurate information transmission.

[0083] Figure 4 This is a flowchart illustrating another simulation testing method provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the operation of the main vehicle in the simulation test software is controlled according to the control information, including:

[0084] Step S401: Determine longitudinal control information based on the vehicle's driving information and acceleration using modeling tools; longitudinal control information includes throttle opening or brake pedal force.

[0085] Step S402: Send longitudinal control information and steering wheel angle to the main vehicle in the simulation test software so that the main vehicle can run according to the longitudinal control information and steering wheel angle.

[0086] When the vehicle-side server determines the control information for the main vehicle based on the driving information of the main vehicle, the driving information of the obstacle vehicles affecting the main vehicle's driving, and the obstacle avoidance algorithm deployed in the vehicle-side server, the control information includes acceleration and steering wheel angle. The acceleration is longitudinal acceleration, which realizes longitudinal control of the main vehicle, and the steering wheel angle is used for lateral control of the main vehicle.

[0087] After generating control information, the vehicle-side server can transmit this information to the modeling tool via the User Datagram Protocol (UDP). The modeling tool then converts the received control information into information directly controlling the vehicle. Specifically, the modeling tool can determine the throttle opening or brake pedal force based on the vehicle's current speed and acceleration. This determination can be achieved through a lookup table, storing the corresponding throttle opening or brake pedal force for different current speeds and accelerations. Alternatively, a mathematical operation module can be incorporated into the modeling tool. This module outputs the throttle opening or brake pedal force based on the input vehicle's current speed and acceleration. A positive acceleration value determines the throttle opening, while a negative acceleration value determines the brake pedal force.

[0088] After determining the throttle opening and brake pedal force, the throttle opening, brake pedal force, and steering wheel angle can be sent to the main vehicle in the simulation test software, thereby realizing the control of the main vehicle's operation based on the above control information.

[0089] By using modeling tools to convert acceleration into information that can be directly controlled by the vehicle, it is easier to control the main vehicle in the simulation test software without requiring the simulation test software to perform the acceleration conversion.

[0090] Optionally, output test results based on the running results, including:

[0091] When the test result shows a collision between the main vehicle and an obstacle vehicle, the result indicates a problem with the obstacle avoidance algorithm in the vehicle-side server.

[0092] After the control information is sent to the master vehicle in the simulation test software, the operation of the master vehicle can be controlled. Based on the simulation test software, the operation results of the master vehicle can be obtained. For example, the operation result can be that there was no collision with the obstacle vehicle, or that there was a collision with the obstacle vehicle. If the result of multiple tests is that there was no collision with the obstacle vehicle, then it is determined that there is no problem with the obstacle avoidance algorithm in the vehicle server.

[0093] The acceleration, turning, and travel path of each obstacle vehicle in the test area can be set. Optionally, multiple pedestrians can be placed in the test area, and their stationary or moving states, path, and speed information can be set. Sensors can detect the pedestrians' movement information and send it to the cloud server, so that the vehicle-side server can obtain the pedestrians' movement information and perform obstacle avoidance.

[0094] Conversely, if the result is that the main vehicle collides with an obstacle vehicle or a pedestrian, it indicates that there is a problem with the obstacle avoidance algorithm in the vehicle server, and the obstacle avoidance algorithm in the vehicle server needs to be optimized.

[0095] Simulation testing software can be used to judge the running results and directly show users the test results of whether there are any problems with the obstacle avoidance algorithm in the vehicle server, without requiring users to analyze the running results, thus improving the user experience.

[0096] Optionally, when the main vehicle is placed in the test area and no obstacle vehicles are placed, the sensors are used to sense the preset driving information of the main vehicle; the preset driving information includes the coordinate points passed during the driving process, as well as the speed and acceleration information corresponding to the coordinate points; the method further includes:

[0097] The modeling tool sends the vehicle's driving information, perceived by the sensors, to the cloud server. During the simulation test phase, the cloud server determines the tracking instructions based on the vehicle's driving information and sends the tracking instructions to the vehicle-side server. The tracking instructions are used to instruct the vehicle to drive according to the preset driving information.

[0098] In addition to sending driving information of filtered obstacle vehicles to the vehicle-side server, the cloud server can also send tracking commands. Specifically, a master vehicle can be set up in the test area without any obstacle vehicles, and the movement of the master vehicle can be controlled according to a script written in the simulation test software.

[0099] The sensors can detect preset driving information of the main vehicle, such as the coordinates it passes through during the journey, and the corresponding speed and acceleration at each coordinate point. The sensors can send this information to a cloud server through modeling tools, and the cloud server can record the received driving information of the main vehicle to form a tracking file.

[0100] During simulation testing, tracking commands can be sent to the vehicle-side server based on the tracking file. Specifically, the vehicle's driving information, such as position, speed, and acceleration, can be obtained. The actual driving information of the vehicle is compared with the driving information stored in the tracking file to determine the tracking commands to be sent to the vehicle-side server, thus enabling the vehicle in the simulation scenario to drive according to preset driving information. Specifically, the vehicle-side server can send control information, such as longitudinal acceleration and steering wheel angle, allowing the vehicle to perform actions such as starting, stopping, changing lanes, making U-turns, steering, and acceleration / deceleration.

[0101] By sending the preset driving information of the main vehicle perceived by the sensors to the cloud server before the simulation test, the cloud server can issue tracking commands based on the information during the simulation test, so as to test the control algorithm in the vehicle server.

[0102] Optionally, output test results based on the running results, including:

[0103] When the test result indicates that the main vehicle does not drive according to the preset driving information, the test result is that there is a problem with the control algorithm in the vehicle server and / or the transmission channel between the cloud server and the vehicle server.

[0104] The vehicle-side server stores not only obstacle avoidance algorithms but also control algorithms. These control algorithms generate corresponding control information based on the tracking instructions sent from the cloud server. This control information then controls the vehicle to drive according to the tracking instructions. When the vehicle receives control information from the vehicle-side server, it can drive accordingly.

[0105] The simulation testing software can obtain the operating results of the master vehicle. When the master vehicle's operating result is that it travels according to the preset driving information, the test result indicates that the control algorithm in the vehicle-side server and the transmission channel between the vehicle-side server and the cloud server are functioning correctly. When the master vehicle's operating result is that it does not travel according to the preset driving information, the test result indicates that the control algorithm in the vehicle-side server and / or the transmission channel between the vehicle-side server and the cloud server are functioning correctly. This is because when the master vehicle does not travel according to the preset driving information, it is possible that the vehicle-side server accurately receives the tracking command sent by the cloud server, but the control algorithm in the vehicle-side server cannot generate the correct control information according to the tracking command. Alternatively, it is also possible that the control algorithm in the vehicle-side server is functioning correctly, but due to a problem with the transmission channel, the vehicle-side server does not accurately receive the tracking command sent by the cloud server, resulting in inaccurate control information.

[0106] Simulation testing software can be used to judge the running results and directly show users the test results of whether there are any problems with the control algorithm in the vehicle server or the transmission channel between the vehicle server and the cloud server, without requiring users to analyze the running results, thus improving the user experience.

[0107] Figure 5 A structural diagram of a simulation testing system provided in an embodiment of the present invention is shown below. Figure 5 As shown, the system includes: a test terminal 501, a cloud server 502, and a vehicle-side server 503; the test terminal 501 is equipped with simulation test software;

[0108] Test terminal 501 is used to determine the target model selected by the user in the simulation test software, and the sensors configured for the target model; the sensors are used to sense the driving information of the target vehicle in the test site; the target model is in a stationary state; the driving information of the target vehicle is sent to cloud server 502, and the driving information of the main vehicle is sent to vehicle server 503; the target vehicle includes obstacle vehicles and the main vehicle.

[0109] The cloud server 502 is used to send driving information of obstructing vehicles that affect the driving of the main vehicle to the vehicle-side server;

[0110] The vehicle-side server 503 is used to determine the control information for the main vehicle based on the driving information of the obstacle vehicles affecting the driving of the main vehicle, the driving information of the main vehicle, and the obstacle avoidance algorithm.

[0111] The test terminal 501 is also used to receive control information sent by the vehicle-side server, control the operation of the main vehicle in the simulation test software according to the control information, and output test results according to the operation results.

[0112] This invention provides a simulation testing system comprising a test terminal, a cloud server, and a vehicle-side server. The test terminal determines the target model selected by the user in the simulation testing software, as well as the sensors configured for the target model. It sends the target vehicle's driving information to the cloud server and the main vehicle's driving information to the vehicle-side server. The cloud server sends the driving information of obstacle vehicles affecting the main vehicle's driving to the vehicle-side server. The vehicle-side server determines control information for the main vehicle based on the driving information of obstacle vehicles affecting the main vehicle's driving, the main vehicle's driving information, and an obstacle avoidance algorithm. The test terminal receives the control information sent by the vehicle-side server and controls the operation of the main vehicle in the simulation testing software accordingly. Test results are output based on the operation results. By simulating roadside units based on the user-selected model and corresponding sensors, and through data transmission between the test terminal, cloud server, and vehicle-side server, vehicle-cloud collaborative simulation testing based on simulation testing software is achieved. This eliminates the need to build a test platform and offers the advantage of simple implementation.

[0113] The simulation testing system provided in this embodiment of the invention can achieve the above-mentioned... Figures 2 to 4 The simulation testing method shown in the embodiment has a similar implementation principle and technical effect, and will not be described again here.

[0114] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Figure 6 As shown, the electronic device provided in this embodiment includes at least one processor 601 and a memory 602. The processor 601 and the memory 602 are connected via a bus 603.

[0115] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to execute the method in the above method embodiment.

[0116] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0117] In the above Figure 6 In the illustrated embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0118] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0119] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0120] This invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the above embodiments.

[0121] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0122] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0123] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A simulation testing method, characterized in that, The method is applied to a test terminal, which is equipped with simulation test software; the method includes: The simulation test software identifies a stationary target model selected by the user from the models provided, and a sensor configured for the target model. The sensor is used to sense the driving information of the target vehicle in the test site. The target vehicle includes obstacle vehicles and the main vehicle. The target model and the sensor configured for the target model are used to simulate roadside equipment in the simulation test software. The cloud server sends the driving information of the target vehicle sensed by the sensor to the cloud server, and sends the driving information of the main vehicle sensed by the main vehicle to the vehicle server; the cloud server is used to send the driving information of obstacle vehicles affecting the driving of the main vehicle to the vehicle server; the vehicle server is used to determine the control information of the main vehicle based on the driving information of obstacle vehicles affecting the driving of the main vehicle, the driving information of the main vehicle, and the obstacle avoidance algorithm. The system receives control information sent by the vehicle-side server and controls the operation of the main vehicle in the simulation test software according to the control information, and outputs test results based on the operation results; when the operation result is that the main vehicle collides with an obstacle vehicle, the test result indicates that there is a problem with the obstacle avoidance algorithm in the vehicle-side server. When the main vehicle is placed in the test area and no obstacle vehicles are placed, the sensor is used to sense the preset driving information of the main vehicle; the method further includes: The modeling tool in the test terminal sends the driving information of the main vehicle sensed by the sensor to the cloud server, so that during the simulation test phase, the cloud server determines the tracking instruction based on the driving information of the main vehicle and sends the tracking instruction to the vehicle-side server; the tracking instruction is used to instruct the main vehicle to drive according to the preset driving information; when the test result is that the main vehicle does not drive according to the preset driving information, the test result is that the control algorithm in the vehicle-side server, and / or, there is a problem with the transmission channel between the cloud server and the vehicle-side server; the preset driving information includes the coordinate points passed during the driving process, and the speed and acceleration information corresponding to the coordinate points.

2. The method according to claim 1, characterized in that, The method further includes: Determine the first identification information of the sensor and the second identification information of the main vehicle created in the simulation test software; The modeling tool is configured with a first interface corresponding to the first identification information and a second interface corresponding to the second identification information. Accordingly, the driving information of the target vehicle is sent to the cloud server, and the driving information of the main vehicle is sent to the vehicle-side server, including: The vehicle's driving information is sent to the cloud server through the first interface, and the vehicle's driving information is sent to the vehicle-side server through the second interface.

3. The method according to claim 2, characterized in that, The method further includes: Receive the port information and IP address information of the cloud server input by the user in the modeling tool; Accordingly, the driving information of the target vehicle is sent to the cloud server through the first interface, including: Based on the port information and the IP address information, the driving information of the target vehicle is sent to the corresponding cloud server via User Datagram Protocol (UDP).

4. The method according to claim 2, characterized in that, The control information includes acceleration and steering wheel angle; controlling the operation of the main vehicle in the simulation test software according to the control information includes: The modeling tool determines longitudinal control information based on the vehicle's driving information and acceleration; the longitudinal control information includes throttle opening or brake pedal force. The longitudinal control information and steering wheel angle are sent to the host vehicle in the simulation test software so that the host vehicle can operate according to the longitudinal control information and steering wheel angle.

5. A simulation testing system, the system comprising: The test terminal includes a cloud server and a vehicle-mounted server; the test terminal is equipped with simulation test software. The test terminal is used to determine the target model that the user selects in a stationary state from the models provided by the simulation test software, and the sensors configured for the target model; the sensors are used to sense the driving information of the target vehicle in the test site. The system sends the driving information of the target vehicle perceived by the sensors to the cloud server, and sends the driving information of the main vehicle perceived by the main vehicle to the vehicle-side server; the target vehicle includes obstacle vehicles and the main vehicle; the target model and the sensors configured for the target model are used to simulate roadside equipment in the simulation test software. The cloud server is used to send driving information of obstructing vehicles that affect the driving of the main vehicle to the vehicle-side server; The vehicle-side server is used to determine control information for the main vehicle based on the driving information of obstacle vehicles affecting the driving of the main vehicle, the driving information of the main vehicle, and the obstacle avoidance algorithm. The test terminal is also used to receive control information sent by the vehicle-side server, control the operation of the main vehicle in the simulation test software according to the control information, and output test results according to the operation results; When the running result is that the host vehicle collides with an obstacle vehicle, the test result indicates that there is a problem with the obstacle avoidance algorithm in the vehicle-side server; When the main vehicle is placed in the test area and no obstacle vehicles are placed, the sensor is used to sense the preset driving information of the main vehicle; The test terminal is also used to send the driving information of the main vehicle sensed by the sensor to the cloud server through the modeling tool in the test terminal, so that the cloud server can determine the tracking command based on the driving information of the main vehicle and send the tracking command to the vehicle server during the simulation test phase. The tracking command is used to instruct the main vehicle to drive according to the preset driving information; When the running result is that the main vehicle does not drive according to the preset driving information, the test result is that the control algorithm in the vehicle server is faulty, and / or that there is a problem with the transmission channel between the cloud server and the vehicle server. The preset driving information includes the coordinate points passed during the driving process, as well as the speed and acceleration information corresponding to the coordinate points.

6. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1 to 4.

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