Simulation testing methods, devices, and equipment for vehicles
By conducting simulation tests on terminal devices and utilizing data conversion and logical calculation methods, the problem of high hardware requirements in hardware-in-the-loop simulation tests was solved, achieving fast and accurate simulation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD
- Filing Date
- 2022-11-09
- Publication Date
- 2026-08-04
AI Technical Summary
In existing technologies, hardware-in-the-loop simulation testing methods have high requirements for hardware equipment, are complex to build models, and cannot achieve fast and accurate simulation.
Simulation testing is performed on the terminal device. By initializing the vehicle model in a preset simulation scenario, driving simulation is conducted to generate vehicle information, perform data conversion and logical calculation, and output control commands for simulated motion control.
This reduces the complexity of model building, minimizes the need for hardware platform setup, and enables rapid and accurate vehicle simulation testing.
Smart Images
Figure CN115616936B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent driving, and more particularly to a simulation testing method, apparatus, and device for vehicles. Background Technology
[0002] In the field of intelligent driving, the overall architecture of intelligent driving implementation is complex, and the algorithm software is updated and iterated very quickly, so comprehensive and efficient simulation testing methods are particularly important.
[0003] In existing technologies, the hardware-in-the-loop (HIL) simulation testing method is used to construct hardware and software models that closely resemble the real vehicle state, and to conduct simulation tests on the intelligent driving of the vehicle.
[0004] However, existing hardware-in-the-loop simulation testing methods have high requirements for hardware equipment and complex model building, making it impossible to achieve fast and accurate simulation. Summary of the Invention
[0005] This application provides a simulation testing method, apparatus, and equipment for vehicles to solve the problem of the inability to quickly and accurately simulate vehicles.
[0006] Firstly, this application provides a simulation testing method for vehicles, the method being applied to a terminal device, the method comprising:
[0007] In a preset simulation scenario, the vehicle model is initialized and a driving simulation is performed to generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scenario.
[0008] The vehicle information is processed by data conversion to generate message data corresponding to the vehicle information.
[0009] Based on the running domain controller software integration package, the message data is processed by logical calculation, control commands are output, and the vehicle model is simulated and controlled based on the control commands.
[0010] In one optional implementation, the preset simulation test scenario includes a road scenario and a traffic flow scenario where the vehicle model is located; the vehicle model is equipped with a sensor model; the vehicle information includes the vehicle model's driving perception information and driving parameter information in the preset simulation scenario; initialization driving simulation processing is performed on the vehicle model in the preset simulation scenario to generate vehicle information, including:
[0011] According to preset initialization parameters, the vehicle model is controlled to perform initial driving simulation processing in the road scene and the traffic flow scene;
[0012] Determine the driving perception information sensed by the sensor model during the initial driving simulation, and determine the driving parameter information of the vehicle model during the initial driving simulation.
[0013] In one optional implementation, the vehicle information is subjected to data conversion processing to generate message data corresponding to the vehicle information, including:
[0014] Based on a preset application programming interface, the driving perception information and the driving parameter information are obtained;
[0015] Based on a preset model, the driving perception information and the driving parameter information are processed by message conversion to generate message data corresponding to the vehicle information.
[0016] In one optional implementation, the driving perception information includes one or more of the following: road information, obstacle information, and traffic sign information;
[0017] The driving parameter information includes vehicle speed information and / or vehicle braking information.
[0018] In one optional implementation, based on the running domain controller software integration package, logical calculations are performed on the message data to output control commands, including:
[0019] The domain controller software integration package, which is scheduled to run, performs logical calculations on the message data according to the logic algorithm integrated in the domain controller software integration package, and generates and outputs the control command.
[0020] In one optional implementation, the terminal device is configured with a virtual system, on which an open-source application container engine is mounted. The open-source application container engine is used to store the image files that the domain controller software integration package depends on for running, and to run the domain controller software integration package.
[0021] In one optional implementation, the method further includes:
[0022] Based on a preset human-computer interaction interface, user instructions are received. The user instructions are used to control the domain controller software integration package to enable or disable the functional modules in the logic algorithm, wherein the functional modules are used to implement intelligent driving functions of the vehicle.
[0023] In one optional implementation, the method further includes:
[0024] Based on the vehicle information after the vehicle model executes the control command, the functional information of the logic algorithm is determined;
[0025] Based on the functional information, optimize the logic algorithm.
[0026] Secondly, this application provides a simulation testing device for vehicles, the device being applied to a terminal device, the device comprising:
[0027] The simulation unit is used to initialize the vehicle model in a preset simulation scenario and generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scenario.
[0028] The data conversion unit is used to perform data conversion processing on the vehicle information and generate message data corresponding to the vehicle information.
[0029] The control unit is used to perform logical calculations on the message data based on the running domain controller software integration package, output control commands, and perform simulated motion control on the vehicle model based on the control commands.
[0030] Thirdly, this application provides a terminal device, which includes a memory and a processor;
[0031] The memory is used to store computer programs;
[0032] The processor is configured to read the computer program stored in the memory and execute the simulation test method for the vehicle as described in the first aspect according to the computer program in the memory.
[0033] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the vehicle simulation testing method as described in the first aspect.
[0034] The vehicle simulation testing method, apparatus, and equipment provided in this application, through the following steps: initializing a vehicle model in a preset simulation scenario to generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scenario; performing data conversion processing on the vehicle information to generate message data corresponding to the vehicle information; performing logical calculation processing on the message data to output control commands, and performing simulated motion control on the vehicle model based on the control commands. This reduces the complexity of model construction, reduces the need for hardware platform setup, and enables rapid and accurate whole-vehicle simulation testing on a single terminal device. Attached Figure Description
[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0036] Figure 1 A flowchart illustrating a vehicle simulation testing method provided in this application embodiment;
[0037] Figure 2 A flowchart of another vehicle simulation testing method provided in this application embodiment;
[0038] Figure 3 A schematic diagram of a simulation test framework for vehicles provided in this application embodiment;
[0039] Figure 4 A schematic diagram of the structure of a vehicle simulation testing device provided in an embodiment of this application;
[0040] Figure 5 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application;
[0041] Figure 6 This is a block diagram of a terminal device provided in an embodiment of this application.
[0042] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation
[0043] 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 this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0044] The overall architecture for realizing intelligent driving in vehicles is complex. Among them, the domain controller is the core of each functional domain of the vehicle. It mainly consists of three parts: the domain main control processor, the operating system and application software, and integrated algorithms. The algorithm part integrates perception algorithms, fusion algorithms, planning algorithms, control algorithms, and underlying data flow algorithms. The software and algorithms are updated and iterated very quickly, so comprehensive and efficient simulation testing methods are particularly important.
[0045] In one example, there are currently two main methods for intelligent driving simulation testing: The first is Software-in-the-Loop (SIL) simulation: This method uses visual simulation tools, such as Simulink, to build models for open-loop simulation testing, or it uses a combination of vehicle virtual simulation software and Simulink models for closed-loop simulation testing. This method is effective for algorithm verification and code verification after the algorithm is automatically converted into a code language, but it differs significantly from the final software package installed in a real vehicle, and cannot verify the overall architecture's data flow framework, middleware, etc. The second method is Hardware-in-the-Loop (HIL) simulation. This method uses a simulation platform that closely resembles a real vehicle, based on real domain controller hardware and software, to verify various algorithm modules, data transmission modules, and underlying control logic in the intelligent driving system. This method is basically similar to the final real vehicle, and the verification effect is reliable, but it has high hardware requirements. Moreover, for such rapid software iteration, using HIL simulation results in low software verification efficiency for developers, and cannot meet the needs of research and development.
[0046] Therefore, this application takes into account factors such as the comprehensive coverage of simulation testing, hardware dependence, and verification efficiency, and proposes a simulation testing method for vehicles that can realize whole-vehicle simulation testing in a single terminal device without the need to construct a separate hardware environment.
[0047] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.
[0048] Figure 1 A flowchart illustrating a vehicle simulation testing method provided in this application embodiment, wherein the method is applied to a terminal device, such as... Figure 1 As shown, the method includes:
[0049] 101. Initialize the vehicle model in the preset simulation scenario to perform driving simulation processing and generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scenario.
[0050] For example, a simulation scenario is preset in the vehicle simulation software. The vehicle model is initialized and simulated under this preset scenario. That is, a driving speed and a traffic scenario are given to the vehicle model, so that the vehicle model simulates driving under the traffic scenario. During the driving simulation, the vehicle model will generate corresponding driving information. This driving information is collected so that the driving status of the vehicle model can be analyzed later.
[0051] 102. Perform data conversion processing on vehicle information to generate message data corresponding to the vehicle information.
[0052] For example, the collected vehicle information is converted, such as changing the format and length of the information, to generate message data corresponding to the vehicle information, so that the algorithm software can recognize and calculate it.
[0053] In one example, vehicle information could include the vehicle's speed, the distance between the vehicle and an obstacle in front, and the speed of the obstacle in front. This information is not something that the algorithm can recognize or calculate, and data conversion is required.
[0054] 103. Based on the running domain controller software integration package, perform logical calculations on message data, output control commands, and perform simulation motion control on the vehicle model based on the control commands.
[0055] For example, based on the running domain controller software integration package, the converted message data is parsed, such as identifying and extracting keyword fields in the message data, performing logical calculations according to the internal algorithm logic, generating and outputting control commands based on the logical calculation results, and performing simulated motion control on the vehicle model based on the control commands.
[0056] In summary, the vehicle simulation testing method provided in this embodiment involves the following steps: initializing the vehicle model in a preset simulation scenario to generate vehicle information, where the vehicle information represents the vehicle model's driving information in the preset simulation scenario; performing data conversion processing on the vehicle information to generate corresponding message data; performing logical calculation processing on the message data to output control commands; and performing simulated motion control on the vehicle model based on the control commands. This reduces the complexity of model construction, reduces the need for hardware platform setup, and enables rapid and accurate whole-vehicle simulation testing on a single terminal device.
[0057] Figure 2 A flowchart illustrating another vehicle simulation testing method provided in this application embodiment, the method being applied to a terminal device, such as... Figure 1 As shown, the method includes:
[0058] 201. Initialize the vehicle model in the preset simulation scenario and perform driving simulation processing to generate vehicle information. The vehicle information represents the driving information of the vehicle model in the preset simulation scenario. The vehicle information includes the driving perception information of the vehicle model in the preset simulation scenario and the driving parameter information of the vehicle model.
[0059] In one example, the preset simulation test scenario includes a road scene where the vehicle model is located and a traffic flow scene; the vehicle model is equipped with a sensor model, and step 201 includes the following steps:
[0060] Based on preset initialization parameters, the vehicle model is controlled to perform initial driving simulation processing in road scenarios and traffic flow scenarios.
[0061] Determine the driving perception information perceived by the sensor model during the initialization of the driving simulation, and determine the driving parameter information of the vehicle model during the initialization of the driving simulation.
[0062] In one example, the driving perception information includes one or more of the following: road information, obstacle information, traffic sign information; driving parameter information includes vehicle speed information, and / or vehicle braking information.
[0063] For example, a simulation scenario is preset in the vehicle simulation software. The vehicle model is initialized and simulated under this scenario, so that the vehicle model simulates driving in the traffic scenario. During the driving simulation, the vehicle model generates corresponding vehicle information, such as road information and obstacle information identified by the vehicle in the traffic scenario, as well as the vehicle's own driving information, such as throttle parameters and braking parameters of the braking system. This driving information is collected so that the driving status of the vehicle model can be analyzed later.
[0064] In one example, the vehicle simulation software includes a pre-set simulation test scenario that, in addition to the vehicle model, also includes a road scenario and a traffic flow scenario. The road scenario includes lane lines, driving trajectories, and traffic signs; the traffic flow scenario includes the speed and position of other vehicles and pedestrians besides the vehicle model. Sensor models are placed at different locations on the vehicle model to acquire driving perception information within the pre-set simulation scenario. Furthermore, the vehicle model may also include information such as a driver model. Within the pre-set simulation scenario, based on pre-set initialization parameters, such as the vehicle model's speed, wind speed, and the speeds of other vehicles in the traffic flow, the vehicle model is controlled to perform initial driving simulation processing in both the road and traffic flow scenarios. Based on the various sensor models within the vehicle model, the driving perception information perceived by the sensor models during the initial driving simulation is determined, such as one or more of road information, obstacle information, and traffic sign information. The driving parameter information of the vehicle model during the initial driving simulation is also determined, such as vehicle speed information and / or vehicle braking information. This vehicle information is collected for subsequent analysis of the vehicle model's driving state.
[0065] In one example, the vehicle simulation software can be a vehicle simulation software (SCANeR) or a VTD, VTD and other intelligent driving simulation software.
[0066] 202. Based on the preset application programming interface, obtain driving perception information and driving parameter information.
[0067] For example, based on a preset application programming interface (API), data interaction is achieved with the vehicle simulation software to obtain driving perception information and driving parameter information.
[0068] 203. Based on the preset model, perform message conversion processing on the driving perception information and driving parameter information to generate message data corresponding to the vehicle information.
[0069] For example, a preset model corresponding to the vehicle simulation software is built in the visualization simulation tool (Simulink), such as the Simulink vehicle model or the Simulink sensor model. Based on the preset model, the driving perception information and driving parameter information are converted, such as the format and length of the information, to generate the message data corresponding to the vehicle information, so that the algorithm software can recognize and calculate it.
[0070] In one example, based on a pre-defined Simulink vehicle model, the acquired driving parameter information is converted into data to generate corresponding message data; based on a pre-defined Simulink sensor model, the acquired driving perception information is converted into data to generate corresponding message data.
[0071] 204. The domain controller software integration package for scheduling and operation performs logical calculations on message data according to the logic algorithms integrated in the domain controller software integration package, generates and outputs control commands, and performs simulation motion control on the vehicle model based on the control commands.
[0072] In one example, the terminal device is configured with a virtual system, which carries an open-source application container engine. The open-source application container engine is used to store the image files that the domain controller software integration package depends on, and to run the domain controller software integration package.
[0073] For example, the domain controller software integration package that is scheduled to run parses the converted message data, such as identifying and extracting keyword fields in the message data, performing logical calculations based on the logic algorithms integrated in the domain controller software integration package, generating and outputting control commands based on the logical calculation results, and performing simulated motion control on the vehicle model based on the control commands.
[0074] In one example, after data transformation based on a pre-defined Simulink model generates message data, the data can be packaged by the database management software (DataBase Commander, or dbc) and then sent to the domain controller software integration package via User Datagram Protocol (UDP). This allows the domain controller software integration package to perform logical calculations on the message data.
[0075] In one example, the control commands are in UDP message format. The control commands are transmitted to a pre-built integrated packet control command message model in Simulink. The control commands are then parsed and formatted according to the model, and finally transmitted to the vehicle simulation software through the API interface to realize the simulation motion control of the vehicle model.
[0076] In one example, the terminal device is configured with a virtual system, which carries an open-source application container engine. The open-source application container engine is used to store the image files that the domain controller software integration package depends on, and to run the domain controller software integration package.
[0077] In one example, a virtual machine is installed on the Microsoft Windows operating system of the terminal device to create an Ubuntu virtual system. An open-source application container engine (Docker) is created within the virtual machine to store the image files that the integration package depends on, and ports for data interaction with the Simulink model are defined, such as message receivers and senders. The domain controller software integration package is then run within the Docker container, completing the setup of the domain controller software integration package's runtime environment. Optionally, this vehicle simulation testing method can also be implemented using two terminal devices, one running Microsoft Windows and the other running the virtual system.
[0078] In one example, Figure 3 A schematic diagram of a vehicle simulation test framework provided for an embodiment of this application is shown below. Figure 3As shown, in a terminal device, the vehicle simulation software SCANeR is run to simulate and drive the vehicle model. Based on the sensor models, chassis, and body components within the vehicle model, it acquires and transmits driving perception information and driving parameter information, such as chassis and body operating parameters, to the corresponding preset Simulink model in the visualization simulation tool. Based on the preset Simulink model, the driving perception information and driving parameter information are converted into corresponding UDP packet data, which is then transmitted to the domain controller software integration package running in a Docker container within the Ubuntu virtual system. This process then schedules the running domain controller... The controller software integration package, based on the perception algorithm, fusion algorithm, planning algorithm, control algorithm, and data flow underlying algorithm integrated in the running domain controller software integration package, performs logical calculations on the UDP packet data to generate corresponding UDP packet instructions. Then, through a preset Simulink model, such as a preset receiving integration package vehicle control packet model, it performs DBC parsing and format conversion of the control instructions to generate vehicle control information, i.e., control instructions. Finally, it transmits the information to the vehicle simulation software through the API interface to realize the simulation motion control of the vehicle model. It can also receive function control instructions through a preset function control human-machine interface to realize the control of intelligent driving function modules.
[0079] In summary, the vehicle simulation testing method provided in this embodiment controls the vehicle model to perform initial driving simulation processing in road and traffic flow scenarios based on preset initialization parameters, and acquires the vehicle model's driving perception information and driving parameter information in traffic scenarios and traffic flow. This makes the obtained vehicle information closer to the driving information in real driving scenarios, making the simulation test more accurate and effective. The data conversion and transmission between the whole vehicle simulation software and the domain controller software integration package is realized based on a visual simulation tool, which can better test the data interaction process in the intelligent driving system, making the simulation test more comprehensive. Creating an open-source application container engine and running the domain controller software integration package in the local operating system avoids the construction of a hardware platform, relying solely on a terminal device to achieve simulation testing of the algorithm's underlying layer, saving resources and improving simulation testing efficiency.
[0080] One or more embodiments of this application may further include: receiving user instructions based on a preset human-machine interface, wherein the user instructions are used to control the domain controller software integration package to enable or disable functional modules in the logic algorithm, wherein the functional modules are used to implement vehicle intelligent driving functions.
[0081] For example, based on a preset human-machine interface, user instructions are received. These user instructions are used to control the domain controller software integration package to enable or disable functional modules in the logic algorithm, such as intelligent cruise function or adaptive cruise function, so that the driver model in the vehicle model can take over the driving of the vehicle model. The functional modules are used to implement the intelligent driving function of the vehicle.
[0082] In one example, in the software running on the terminal system, such as commercial mathematical software (MATLAB), a human-machine interface for vehicle model function control and front vehicle motion control is created. Through this interface, commands to enable and disable certain function modules can be sent to the domain controller software integration package. At the same time, driver takeover of the vehicle model and front vehicle motion control can be realized.
[0083] In summary, this embodiment uses a human-computer interaction interface to control the intelligent driving function during vehicle simulation testing, allowing the simulation testing process to be controlled according to user needs and accelerating software development efficiency.
[0084] One or more embodiments of this application may further include: determining the functional information of the logic algorithm based on vehicle information after executing control commands from the vehicle model; and optimizing the logic algorithm based on the functional information.
[0085] For example, after the vehicle model receives a control command, it will maintain or change the vehicle's motion state according to the instructions of the control command, such as maintaining the current speed and direction, braking, or changing lanes. During this process, vehicle information is continuously generated in real time. This vehicle information includes driving perception information and driving parameter information after the vehicle model executes the control command. Based on this information, the execution status of the vehicle model's control command and whether the control command is correct, appropriate for the vehicle's traffic scenario and traffic flow can be determined, thereby determining the functional information of the logic algorithm and optimizing the logic algorithm based on the functional information.
[0086] In summary, this embodiment uses vehicle information obtained after the vehicle model executes control commands to determine the functional information of the logic algorithm, and optimizes the logic algorithm based on this functional information. This allows for timely optimization and adjustment of the algorithms integrated into the intelligent driving system based on issues encountered during simulation testing, thus accelerating software development efficiency.
[0087] Figure 4 This application provides a schematic diagram of the structure of a vehicle simulation testing device, which is applied to a terminal device, such as... Figure 4 As shown, the device includes:
[0088] The simulation unit 31 is used to initialize the vehicle model in a preset simulation scenario and generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scenario.
[0089] The data conversion unit 32 is used to perform data conversion processing on vehicle information and generate message data corresponding to the vehicle information.
[0090] The control unit 33 is used to perform logical calculations on message data based on the running domain controller software integration package, output control commands, and perform simulated motion control on the vehicle model based on the control commands.
[0091] In one example, the preset simulation test scenario includes a road scenario where the vehicle model is located and a traffic flow scenario; the vehicle model is equipped with sensor models; the vehicle information includes the vehicle model's driving perception information and driving parameter information in the preset simulation scenario; the simulation unit 31 includes:
[0092] The simulation subunit is used to control the vehicle model to perform initial driving simulation processing in road and traffic flow scenarios according to preset initialization parameters.
[0093] The determination subunit is used to determine the driving perception information perceived by the sensor model during the initialization of the driving simulation, and to determine the driving parameter information of the vehicle model during the initialization of the driving simulation.
[0094] In one example, data transformation unit 32 includes:
[0095] The acquisition sub-unit is used to acquire driving perception information and driving parameter information based on a preset application programming interface.
[0096] The conversion subunit is used to perform message conversion processing on driving perception information and driving parameter information based on a preset model, and generate message data corresponding to vehicle information.
[0097] In one example, driving perception information includes one or more of the following: road information, obstacle information, and traffic sign information.
[0098] Driving parameter information includes vehicle speed information and / or vehicle braking information.
[0099] In one example, control unit 33 includes:
[0100] The processing subunit is used to schedule the operation of the domain controller software integration package. It performs logical calculations on the message data according to the logic algorithms integrated in the domain controller software integration package, and generates and outputs control commands.
[0101] In one example, the terminal device is configured with a virtual system, which carries an open-source application container engine. The open-source application container engine is used to store the image files that the domain controller software integration package depends on, and to run the domain controller software integration package.
[0102] In one example, the device also includes:
[0103] The receiving unit is used to receive user commands based on a preset human-machine interface. The user commands are used to control the domain controller software integration package to enable or disable functional modules in the logic algorithm. The functional modules are used to implement intelligent driving functions of the vehicle.
[0104] In one example, the device also includes:
[0105] The determination unit is used to determine the functional information of the logic algorithm based on the vehicle information after the vehicle model executes the control commands.
[0106] The processing unit is used to optimize the logic algorithm based on the functional information.
[0107] Figure 5 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application, such as... Figure 5 As shown, the terminal device includes: a memory 41 and a processor 42.
[0108] Memory is used to store computer programs.
[0109] A processor is configured to read a computer program stored in a memory and execute the method of any of the above embodiments according to the computer program in the memory.
[0110] Figure 6 This is a block diagram of a terminal device provided in an embodiment of this application. The device may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc.
[0111] The device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.
[0112] Processing component 802 typically controls the overall operation of device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.
[0113] Memory 804 is configured to store various types of data to support the operation of device 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 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.
[0114] Power supply component 806 provides power to various components of device 800. Power supply component 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to device 800.
[0115] Multimedia component 808 includes a screen that provides an output interface between device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When device 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
[0116] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
[0117] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.
[0118] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of device 800. For example, sensor assembly 814 may detect the on / off state of device 800, the relative positioning of components such as the display and keypad of device 800, changes in the position of device 800 or a component of device 800, the presence or absence of user contact with device 800, the orientation or acceleration / deceleration of device 800, and temperature changes of device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.
[0119] Communication component 816 is configured to facilitate wired or wireless communication between device 800 and other devices. Device 800 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
[0120] In an exemplary embodiment, the apparatus 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.
[0121] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, which can be executed by a processor 820 of the device 800 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.
[0122] This application also provides a computer program product, which includes a computer program stored in a readable storage medium. At least one processor of a terminal device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the terminal device to perform the solution provided in any of the above embodiments.
[0123] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.
[0124] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.
Claims
1. A simulation testing method for vehicles, characterized in that, The method is applied to a single terminal device, and the method includes: In a preset simulation scenario, the vehicle model is initialized and a driving simulation is performed to generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scenario. The vehicle information is processed by data conversion to generate message data corresponding to the vehicle information. Based on the running domain controller software integration package, the message data is processed by logical calculation, control commands are output, and the vehicle model is simulated and controlled based on the control commands to realize the whole vehicle simulation test of the domain controller software integration package; the domain controller software integration package is a real vehicle-level domain controller software integration package. The preset simulation test scenario includes the road scenario and traffic flow scenario where the vehicle model is located; the vehicle model is equipped with sensor models; the vehicle information includes the vehicle model's driving perception information and driving parameter information in the preset simulation scenario; the vehicle model is initialized and simulated in the preset simulation scenario to generate vehicle information, including: According to preset initialization parameters, the vehicle model is controlled to perform initial driving simulation processing in the road scene and the traffic flow scene; Determine the driving perception information perceived by the sensor model during the initial driving simulation, and determine the driving parameter information of the vehicle model during the initial driving simulation. The terminal device is configured with a virtual system, on which an open-source application container engine is mounted. The open-source application container engine is used to store the image files that the domain controller software integration package depends on for running, and to run the domain controller software integration package.
2. The method according to claim 1, characterized in that, The vehicle information is processed through data conversion to generate corresponding message data, including: Based on a preset application programming interface, the driving perception information and the driving parameter information are obtained; Based on a preset model, the driving perception information and the driving parameter information are processed by message conversion to generate message data corresponding to the vehicle information.
3. The method according to claim 1, characterized in that, The driving perception information includes one or more of the following: road information, obstacle information, and traffic sign information; The driving parameter information includes vehicle speed information and / or vehicle braking information.
4. The method according to claim 1, characterized in that, Based on the running domain controller software integration package, the message data is processed logically to output control commands, including: The domain controller software integration package, which is scheduled to run, performs logical calculations on the message data according to the logic algorithm integrated in the domain controller software integration package, and generates and outputs the control command.
5. The method according to claim 4, characterized in that, The method further includes: Based on a preset human-computer interaction interface, user instructions are received. The user instructions are used to control the domain controller software integration package to enable or disable the functional modules in the logic algorithm, wherein the functional modules are used to implement intelligent driving functions of the vehicle.
6. The method according to any one of claims 4-5, characterized in that, The method further includes: Based on the vehicle information after the vehicle model executes the control command, the functional information of the logic algorithm is determined; Based on the functional information, optimize the logic algorithm.
7. A simulation testing device for vehicles, characterized in that, The device is used in a terminal device, and the device includes: The simulation unit is used to initialize the vehicle model in a preset simulation scenario and generate vehicle information, wherein the vehicle information represents the driving information of the vehicle model in the preset simulation scenario. The data conversion unit is used to perform data conversion processing on the vehicle information and generate message data corresponding to the vehicle information. The control unit is used to perform logical calculations on the message data based on the running domain controller software integration package, output control commands, and perform simulated motion control on the vehicle model based on the control commands. The preset simulation test scenario includes the road scenario where the vehicle model is located and the traffic flow scenario; the vehicle model is equipped with sensor models; the vehicle information includes the vehicle model's driving perception information and driving parameter information in the preset simulation scenario; the simulation unit includes: The simulation subunit is used to control the vehicle model to perform initial driving simulation processing in the road scene and the traffic flow scene according to preset initialization parameters; A determination subunit is used to determine the driving perception information perceived by the sensor model during the initialization driving simulation process, and to determine the driving parameter information of the vehicle model during the initialization driving simulation process. The terminal device is configured with a virtual system, on which an open-source application container engine is mounted. The open-source application container engine is used to store the image files that the domain controller software integration package depends on for running, and to run the domain controller software integration package.
8. A terminal device, characterized in that, The terminal device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to read the computer program stored in the memory and execute the vehicle simulation test method according to any one of claims 1-6 based on the computer program in the memory.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the vehicle simulation testing method as described in any one of claims 1-6.