Simulation test method, device, system, electronic equipment and readable storage medium

Abstract

The present disclosure provides a simulation test method. The method applied to a first device comprises: generating a configuration file according to a navigation device to be tested; sending test data and the configuration file to a second device; receiving simulated sensor data and simulation positioning results sent by the navigation device to be tested; and obtaining a test result of the navigation device to be tested according to the configuration file, the test data, the simulated sensor data and the simulation positioning results. The method applied to the second device comprises: receiving the test data and the configuration file sent by the first device, obtaining a parsing result of the configuration file; processing the test data to obtain simulated sensor data according to the parsing result; and sending the simulated sensor data to the navigation device to be tested through a target data interface. The method applied to the navigation device to be tested comprises: receiving the simulated sensor data sent by the second device; obtaining simulation positioning results according to the simulated sensor data; and sending the simulation positioning results and the simulated sensor data to the first device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of data processing, in particular to the technical field of artificial intelligence such as automatic driving and cloud computing. A simulation testing method, device, system, electronic equipment and readable storage medium are provided. BACKGROUND

[0002] With the rapid development of automatic driving technology, the design rationality of navigation equipment is increasingly required. The design rationality of navigation equipment largely depends on simulation testing in the research and development process. SUMMARY

[0003] According to a first aspect of the present disclosure, a simulation testing method is provided, applied to a first device, comprising: generating a sensor configuration file according to a to-be-tested navigation device; sending test data and the sensor configuration file to a second device, for the second device to generate simulated sensor data according to the test data and the sensor configuration file; receiving simulated sensor data and simulation positioning results sent by the to-be-tested navigation device; and obtaining a test result of the to-be-tested navigation device according to the sensor configuration file, the test data, the simulated sensor data and the simulation positioning results.

[0004] According to a second aspect of the present disclosure, a simulation testing method is provided, applied to a second device, comprising: receiving test data and a sensor configuration file sent by a first device to obtain an analysis result of the sensor configuration file; processing the test data according to the analysis result to obtain simulated sensor data; determining a target data interface according to the analysis result, and sending the simulated sensor data to a to-be-tested navigation device through the target data interface, for the to-be-tested navigation device to obtain simulation positioning results according to the simulated sensor data.

[0005] According to a third aspect of the present disclosure, a simulation testing method is provided, applied to a to-be-tested navigation device, comprising: receiving simulated sensor data sent by a second device; obtaining simulation positioning results according to the simulated sensor data; and sending the simulation positioning results and the simulated sensor data to a first device, for the first device to obtain a test result according to the simulation positioning results and the simulated sensor data.

[0006] According to a fourth aspect of the present disclosure, there is provided a simulation testing apparatus applied to a first device, comprising: a generating unit configured to generate a sensor configuration file according to a navigation device to be tested; a first sending unit configured to send test data and the sensor configuration file to a second device, so that the second device generates simulated sensor data according to the test data and the sensor configuration file; a third receiving unit configured to receive simulated sensor data and simulation positioning results sent by the navigation device to be tested; and a testing unit configured to obtain a test result of the navigation device to be tested according to the sensor configuration file, the test data, the simulated sensor data and the simulation positioning results.

[0007] According to a fifth aspect of the present disclosure, there is provided a simulation testing apparatus applied to a second device, comprising: a first receiving unit configured to receive test data and a sensor configuration file sent by a first device, and obtain an analysis result of the sensor configuration file; a processing unit configured to process the test data according to the analysis result, and obtain simulated sensor data; and a second sending unit configured to determine a target data interface according to the analysis result, and send the simulated sensor data to a navigation device to be tested through the target data interface, so that the navigation device to be tested obtains simulation positioning results according to the simulated sensor data.

[0008] According to a sixth aspect of the present disclosure, there is provided a simulation testing apparatus applied to a navigation device to be tested, comprising: a third receiving unit configured to receive simulated sensor data sent by a second device; a calculating unit configured to obtain simulation positioning results according to the simulated sensor data; and a third sending unit configured to send the simulation positioning results and the simulated sensor data to a first device, so that the first device obtains a test result according to the simulation positioning results and the simulated sensor data.

[0009] According to a seventh aspect of the present disclosure, there is provided a simulation testing system, comprising a first device, a second device and a navigation device to be tested; wherein the first device is configured to execute the method of the first aspect, the second device is configured to execute the method of the second aspect, and the navigation device to be tested is configured to execute the method of the third aspect.

[0010] According to an eighth aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method as described above.

[0011] According to a ninth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method as described above.

[0012] According to a tenth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method as described above.

[0013] It can be seen from the above technical solutions that the present disclosure completes the simulation test on the to-be-tested navigation device by the first device, the second device and the to-be-tested navigation device, and can achieve the purpose of simultaneously simulating and testing the sensor data link and the positioning accuracy of the navigation device, thereby improving the comprehensiveness and efficiency of the simulation test on the navigation device and accelerating the iteration speed of the navigation device.

[0014] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are used to better understand the present scheme and do not constitute a limitation on the present disclosure. Among them:

[0016] Figure 1 is a schematic diagram according to the first embodiment of the present disclosure;

[0017] Figure 2 is a schematic diagram according to the second embodiment of the present disclosure;

[0018] Figure 3 is a schematic diagram according to the third embodiment of the present disclosure;

[0019] Figure 4 is a schematic diagram according to the fourth embodiment of the present disclosure;

[0020] Figure 5 is a schematic diagram according to the fifth embodiment of the present disclosure;

[0021] Figure 6 is a schematic diagram according to the sixth embodiment of the present disclosure;

[0022] Figure 7 is a schematic diagram according to the seventh embodiment of the present disclosure;

[0023] Figure 8 is a schematic diagram according to the eighth embodiment of the present disclosure;

[0024] Figure 9 is a block diagram of an electronic device for implementing the simulation test method of the embodiments of the present disclosure. DETAILED DESCRIPTION

[0025] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are meant to be exemplary in nature, and include various details intended to facilitate understanding of the present disclosure. Thus, it should be apparent to those skilled in the art that various modifications and changes can be made in the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, it should be apparent to those skilled in the art that the elements in the drawings are illustrated for simplicity and clarity and that in fact, the present disclosure can include more or fewer elements, or can include different layouts of elements than shown in the drawings.

[0026] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure. As shown in Figure 1 the simulation test method of the present embodiment is applied to a first device, and specifically includes the following steps:

[0027] S101, generating a sensor configuration file according to a navigation device to be tested;

[0028] S102, sending test data and the sensor configuration file to a second device, so that the second device generates simulated sensor data according to the test data and the sensor configuration file;

[0029] S103, receiving simulated sensor data and simulation positioning results sent by the navigation device to be tested;

[0030] S104, obtaining a test result of the navigation device to be tested according to the sensor configuration file, the test data, the simulated sensor data and the simulation positioning results.

[0031] The execution subject of the simulation test method of the present embodiment is located in the first device. The first device completes simulation testing of the navigation device to be tested by interacting with the second device and the navigation device to be tested, and obtains a test result according to a sensor configuration file, test data, simulated sensor data and simulation positioning results, so as to achieve the purpose of simultaneously simulating sensor data link and positioning accuracy of the navigation device, thereby improving the comprehensiveness and efficiency of simulation testing of the navigation device and accelerating the iteration speed of the navigation device.

[0032] When the first device of the present embodiment executes S101 to generate a sensor configuration file according to a navigation device to be tested, it can first determine the number of sensors corresponding to the navigation device to be tested, and the name and / or type of the sensors according to the type of the navigation device to be tested and / or the name of the navigation device to be tested, and then generate a sensor configuration file according to the number of sensors, and the name and / or type of the sensors.

[0033] The first device of the embodiment executes S101 to generate a number of sensor configuration files, which is the same as the number of sensors corresponding to the navigation device to be tested, that is, each of the generated sensor configuration files corresponds to one sensor.

[0034] The first device of the embodiment executes S101 to generate a number of sensor configuration files, which is the same as the number of sensors corresponding to the navigation device to be tested, that is, each of the generated sensor configuration files corresponds to one sensor.

[0035] In order to realize dynamic simulation of the sensor and improve the accuracy of simulation test on the navigation device to be tested, the first device of the embodiment further includes at least one of a data error rate and a data error type in the sensor configuration file generated in S101; wherein the data error rate represents the probability of the sensor outputting error data, for example, 1 / 10000 (that is, 1 error data in 10000 data), and the data error type represents the type of error data output by the sensor, for example, data out of range, all 0 data, etc.

[0036] That is, the first device of the embodiment generates a sensor configuration file to provide the second device with the physical characteristics and data characteristics of the sensor to be simulated, thereby improving the accuracy of the simulated sensor data generated by the second device.

[0037] After the first device of the embodiment generates the sensor configuration file in S101, the first device executes S102 to send the test data and the sensor configuration file to the second device, so that the second device generates simulated sensor data according to the test data and the sensor configuration file.

[0038] The first device of this embodiment, when performing S102, first acquires test data, and then sends the sensor configuration file and the test data to the second device; wherein the test data is specifically motion data of a carrier (vehicle or person), which can include acceleration data, angular velocity data, attitude data and other data having standard dimensions (for example, m / s 2 , rad / s, etc.) of the carrier when in motion.

[0039] When the first device of this embodiment performs S102 to acquire test data, it can acquire fixed carrier motion data as test data, can acquire real-time collected carrier motion data as test data, or can acquire carrier motion data generated according to a motion trajectory of the carrier as test data.

[0040] That is, the first device of this embodiment can improve the flexibility of acquiring test data by different ways, and can also achieve the purpose of simulating and testing the to-be-tested navigation device in different scenarios under different acquisition methods.

[0041] This embodiment does not limit the communication method between the first device and the second device, and they can be in wireless communication or wired communication.

[0042] After the first device of this embodiment performs S102 to send the test data and the sensor configuration file to the second device, it performs S103 to receive the simulated sensor data and the simulation positioning result sent by the to-be-tested navigation device.

[0043] The simulated sensor data received by the first device of this embodiment is data generated by the second device according to the test data and the sensor configuration file; and the simulation positioning result is a positioning result calculated by the to-be-tested navigation device according to the simulated sensor data through a built-in algorithm.

[0044] That is, the first device of this embodiment receives the simulation positioning result and the simulated sensor data received by the to-be-tested navigation device at the same time, so as to achieve the purpose of simultaneously simulating and testing the sensor data link and the positioning accuracy of the to-be-tested navigation device according to the simulation positioning result and the simulated sensor data.

[0045] After the first device of this embodiment performs S103 to receive the simulated sensor data and the simulation positioning result sent by the to-be-tested navigation device, it performs S104 to obtain the test result of the to-be-tested navigation device according to the sensor configuration file, the test data, the simulated sensor data and the simulation positioning result.

[0046] The first device of the embodiment can adopt an optional implementation manner when obtaining the test result of the to-be-tested navigation device according to the sensor configuration file, the test data, the simulated sensor data and the simulation positioning result in S104, that is, obtaining the original sensor data and the standard positioning result according to the test data and the sensor configuration file; obtaining the first test result according to the original sensor data and the simulated sensor data; obtaining the second test result according to the standard positioning result and the simulation positioning result; and obtaining the test result of the to-be-tested navigation device according to the first test result and the second test result.

[0047] When performing S104, the first device of the embodiment first obtains the analysis result of the sensor configuration file (for example, the sensor type, the sensor parameter, the data error rate, the data error type and the like), then processes the test data according to the analysis result to obtain the original sensor data, and finally obtains the standard positioning result according to the original sensor data; when there are multiple sensor configuration files, the first device of the embodiment will obtain multiple original sensor data when performing S104, and each original sensor data corresponds to one sensor.

[0048] Since the sensor data is time-series data, the first device of the embodiment can obtain the first test result according to the comparison results of multiple time points after comparing the sensor data corresponding to the same time point in the time-series data (for example, calculating the difference between the original sensor data and the simulated sensor data corresponding to the same sensor), and the first test result is the test result of the to-be-tested navigation device corresponding to the sensor data link.

[0049] Similarly, since the positioning result is also time-series data, the first device of the embodiment can obtain the second test result according to the comparison results of multiple time points after comparing the positioning results corresponding to the same time point in the time-series data (for example, calculating the difference between the standard positioning result and the simulation positioning result), and the second test result is the test result of the to-be-tested navigation device corresponding to the positioning accuracy.

[0050] That is, the first device of the embodiment simultaneously completes the test of the sensor data link and the positioning accuracy of the to-be-tested navigation device through the two parts of the simulated sensor data and the simulation positioning result sent by the to-be-tested navigation device, thereby improving the comprehensiveness and efficiency when simulating the test of the to-be-tested navigation device.

[0051] The embodiment does not limit the communication mode between the first device and the to-be-tested navigation device, and the two can be wireless communication or wired communication.

[0052] Figure 2is a schematic diagram according to a second embodiment of the present disclosure. As shown in Figure 2 The simulation test method of the present embodiment is applied to a second device and specifically includes the following steps:

[0053] S201, receiving test data and a sensor configuration file sent by a first device, and obtaining an analysis result of the sensor configuration file;

[0054] S202, processing the test data according to the analysis result, and obtaining simulated sensor data;

[0055] S203, determining a target data interface according to the analysis result, and sending the simulated sensor data to a navigation device to be tested through the target data interface, so that the navigation device to be tested obtains a simulation positioning result according to the simulated sensor data.

[0056] The simulation test method of the present embodiment is applied to a second device and specifically includes the following steps:

[0057] After the second device of the present embodiment receives the test data and the sensor configuration file sent by the first device in S201, the sensor configuration file is analyzed to obtain an analysis result of the sensor configuration file.

[0058] The analysis result obtained by the second device of the present embodiment in S201 contains the sensor type, the interface type of the data interface between the sensor and the navigation device to be tested, the data frequency of the sensor, the conversion factor between the sensor and the test data, the data format of the sensor, and the like. It can further contain the data error rate, the data error type, and the like.

[0059] In addition, if multiple sensor configuration files are received, the second device of the present embodiment will obtain an analysis result for each sensor configuration file in S201, and each analysis result corresponds to one sensor.

[0060] After the second device of the present embodiment obtains the analysis result of the sensor configuration file in S201, the test data is processed according to the analysis result in S202 to obtain simulated sensor data.

[0061] The second device of this embodiment can convert the test data of the standard dimension into binary / hexadecimal or other data corresponding to the sensor according to the conversion factor between the sensor and the test data, the data format of the sensor, and other sensor parameters in the analysis result, so that the data format of the simulated sensor data corresponds to the sensor.

[0062] Likewise, if multiple analysis results are obtained, the second device of this embodiment can process the test data according to each analysis result when performing S202, thereby obtaining multiple simulated sensor data, each of which corresponds to a sensor.

[0063] That is, the second device of this embodiment processes the test data according to the sensor configuration file to obtain simulated sensor data, so that the data format of the simulated sensor data matches the corresponding sensor, thereby reducing the cost of obtaining simulated sensor data matching different sensors, and improving the accuracy of the obtained simulated sensor data.

[0064] The second device of this embodiment can adopt an optional implementation manner when processing the test data according to the analysis result to obtain simulated sensor data in S202, that is, processing the test data according to the sensor parameters in the analysis result to obtain first sensor data, and processing the first sensor data according to the data error rate and / or data error type in the analysis result to obtain simulated sensor data.

[0065] That is, the second device of this embodiment first converts the test data into first sensor data with a data format matching the sensor, and then further processes the first sensor data according to the data error rate and / or data error type to obtain the final simulated sensor data, thereby achieving the purpose of simulating sensor data failure, error, and the like, and improving the authenticity and accuracy of the simulated sensor data.

[0066] After the second device of this embodiment obtains the simulated sensor data in S202, it performs S203 to determine a target data interface according to the analysis result, and sends the simulated sensor data to the navigation device to be tested through the target data interface, so that the navigation device to be tested obtains a simulation positioning result according to the simulated sensor data.

[0067] The second device of this embodiment is pre-configured with data interfaces corresponding to different interface types, such as UART interfaces, SPI interfaces, CAN interfaces, and the like.

[0068] The second device of this embodiment can first acquire the interface type of the data interface between the sensor and the to-be-tested navigation device in the analysis result when performing S203 of determining the target data interface according to the analysis result, and then take the data interface corresponding to the acquired interface type as the target data interface.

[0069] It can be understood that if multiple analysis results and simulated sensor data are obtained, a target data interface is determined for each analysis result, and then different simulated sensor data is sent to the to-be-tested navigation device through the corresponding target data interface.

[0070] For example, if the sensors to be simulated include sensor 1 and sensor 2, if the target data interface is determined to be the UART interface according to the analysis result corresponding to sensor 1, and if the target data interface is determined to be the CAN interface according to the analysis result corresponding to sensor 2, when performing S203, the second device of this embodiment sends the simulated sensor data corresponding to sensor 1 to the to-be-tested navigation device through the UART interface, and sends the simulated sensor data corresponding to sensor 2 to the to-be-tested navigation device through the CAN interface.

[0071] When performing S203, the second device of this embodiment can also send the simulated sensor data to the to-be-tested navigation device through the target data interface according to the data reading logic and timing between the to-be-tested navigation device and the sensor.

[0072] Figure 3 is a schematic diagram according to the third embodiment of the present disclosure. As shown in Figure 3 The simulation test method of this embodiment is applied to a to-be-tested navigation device, and specifically includes the following steps:

[0073] S301, receiving simulated sensor data sent by a second device;

[0074] S302, obtaining a simulation positioning result according to the simulated sensor data;

[0075] S303, sending the simulation positioning result and the simulated sensor data to a first device, so that the first device obtains a test result according to the simulation positioning result and the simulated sensor data.

[0076] The execution subject of the simulation test method of this embodiment is located in the to-be-tested navigation device. After obtaining a simulation positioning result according to the simulated sensor data sent by the second device, the to-be-tested navigation device sends the simulation positioning result and the simulated sensor data to the first device, so that the first device tests both the sensor data link and the positioning accuracy, thereby improving the comprehensiveness and efficiency of the to-be-tested navigation device when performing simulation test, and further improving the iteration speed of the to-be-tested navigation device.

[0077] The navigation device to be tested in the embodiment can be a GNSS / INS (Inertial Navigation System) navigation device, or can be another type of navigation device, which is not limited in the embodiment.

[0078] The number of the simulated sensor data received by the navigation device to be tested in the embodiment can be one or multiple; the different simulated sensor data is sent by the second device through a corresponding data interface.

[0079] After the navigation device to be tested in the embodiment receives the simulated sensor data in S301, the navigation device to be tested performs S302 to obtain a simulation positioning result according to the simulated sensor data.

[0080] When performing S302, the navigation device to be tested can analyze the simulated sensor data through its own sensor driver and built-in algorithm, and calculate the simulation positioning result.

[0081] After the navigation device to be tested obtains the simulation positioning result in S302, the navigation device to be tested performs S303 to send the simulation positioning result and the simulated sensor data to the first device, so as to obtain a test result by the first device.

[0082] Figure 4 is a schematic diagram according to the fourth embodiment of the disclosure. Figure 4 The structure diagram of the simulation test performed in the embodiment is shown: Figure 4 In the simulation test, the computer is the first device, the sensor simulation device (for example, a circuit board based on FPGA) is the second device, and the GNSS / INS navigation device is the navigation device to be tested; the specific structure of the first device and the second device is not limited in the embodiment.

[0083] Figure 5 is a schematic diagram according to the fifth embodiment of the disclosure. Figure 5 The flowchart of the simulation test performed in the embodiment is shown: the simulation test computer first generates a sensor configuration file and test data, and then sends the sensor configuration file and the test data to the sensor simulation device; the sensor simulation device analyzes the sensor configuration file, and processes the test data to obtain simulated sensor data according to the analysis result; the sensor simulation device and the GNSS / INS navigation device perform data interaction, and the sensor simulation device sends the simulated sensor data to the GNSS / INS navigation device through a corresponding data interface; the GNSS / INS navigation device processes the simulated sensor data, and further calculates a simulation positioning result; the GNSS / INS navigation device sends the simulation positioning result and the simulated sensor data to the simulation test computer, so as to obtain a test result by the simulation test computer.

[0084] Figure 6 is a schematic diagram according to the sixth embodiment of the present disclosure. As shown in the figure, the simulation test device 600 of the present embodiment, applied to a first device, comprises: Figure 6

[0085] a generating unit 601 configured to generate a sensor configuration file according to a to-be-tested navigation device;

[0086] a first sending unit 602 configured to send test data and the sensor configuration file to a second device, so that the second device generates simulated sensor data according to the test data and the sensor configuration file;

[0087] a third receiving unit 603 configured to receive simulated sensor data and simulation positioning results sent by the to-be-tested navigation device;

[0088] a testing unit 604 configured to obtain a test result of the to-be-tested navigation device according to the sensor configuration file, the test data, the simulated sensor data and the simulation positioning results.

[0089] When the generating unit 601 of the present embodiment generates a sensor configuration file according to a to-be-tested navigation device, it can first determine the number of sensors corresponding to the to-be-tested navigation device, and the name and / or type of the sensors, according to the type of the to-be-tested navigation device and / or the name of the to-be-tested navigation device, and then generate a sensor configuration file according to the number of sensors, and the name and / or type of the sensors.

[0090] The number of sensor configuration files generated by the generating unit 601 is the same as the number of sensors corresponding to the to-be-tested navigation device, i.e. each sensor configuration file generated corresponds to one sensor.

[0091] ​The sensor configuration file generated by the generation unit 601 can include the sensor type (for example, an IMU (Inertial Measurement Unit) sensor, a GNSS (Global Navigation Satellite System) sensor), the interface type of the data interface between the sensor and the navigation device to be tested (for example, a UART (Universal Asynchronous Receiver / Transmitter) interface, an SPI (Serial Peripheral Interface), a CAN (Controller Area Network) interface, etc.), and sensor parameters and the like. The sensor parameters can include the data frequency of the sensor, the conversion factor between the sensor and the test data, the data format of the sensor, and the like.

[0092] In order to realize dynamic simulation of the sensor and improve the accuracy of the simulation test of the navigation device to be tested, the sensor configuration file generated by the generation unit 601 can further include at least one of a data error rate and a data error type. The data error rate represents the probability of the sensor outputting error data, and the data error type represents the type of error data output by the sensor.

[0093] That is, the sensor configuration file generated by the generation unit 601 is used to provide the second device with the physical characteristics and data characteristics of the sensor to be simulated, so as to improve the accuracy of the simulated sensor data generated by the second device.

[0094] After the generation unit 601 generates the sensor configuration file, the first sending unit 602 sends the test data and the sensor configuration file to the second device, so that the second device generates simulated sensor data according to the test data and the sensor configuration file.

[0095] The first sending unit 602 first acquires test data, and then sends the sensor configuration file and the test data to the second device. The test data is specifically the motion data of a carrier (vehicle or person), which can include acceleration data, angular velocity data, attitude data, and the like having a standard dimension when the carrier is in motion.

[0096] When acquiring the test data, the first sending unit 602 can acquire fixed carrier motion data as test data, can acquire real-time collected carrier motion data as test data, or can acquire carrier motion data generated according to the motion trajectory of the carrier as test data.

[0097] That is, the first sending unit 602 obtains the test data in different ways, which can improve the flexibility of obtaining the test data, and in the case of different obtaining ways, the simulation test of the to-be-tested navigation device in different scenes can be realized.

[0098] The communication mode between the first device and the second device is not limited in the embodiment, and the communication between the two devices can be wireless communication or wired communication.

[0099] After the first device sends the test data and the sensor configuration file to the second device by the first sending unit 602, the first device receives the simulated sensor data and the simulation positioning result sent by the to-be-tested navigation device by the third receiving unit 603.

[0100] The simulated sensor data received by the third receiving unit 603 is the data generated by the second device according to the test data and the sensor configuration file; the simulation positioning result is the positioning result calculated by the to-be-tested navigation device according to the simulated sensor data through the built-in algorithm.

[0101] That is, the third receiving unit 603 receives the simulation positioning result and the simulated sensor data received by the to-be-tested navigation device at the same time, so as to realize the purpose of simultaneously simulating and testing the sensor data link and the positioning accuracy of the to-be-tested navigation device according to the simulation positioning result and the simulated sensor data.

[0102] After the first device receives the simulated sensor data and the simulation positioning result sent by the to-be-tested navigation device by the third receiving unit 603, the first device obtains the test result of the to-be-tested navigation device according to the sensor configuration file, the test data, the simulated sensor data and the simulation positioning result by the test unit 604.

[0103] When the test unit 604 obtains the test result of the to-be-tested navigation device according to the sensor configuration file, the test data, the simulated sensor data and the simulation positioning result, the optional implementation manner that can be adopted by the test unit 604 is as follows: obtaining the original sensor data and the standard positioning result according to the test data and the sensor configuration file; obtaining the first test result according to the original sensor data and the simulated sensor data; obtaining the second test result according to the standard positioning result and the simulation positioning result; obtaining the test result of the to-be-tested navigation device according to the first test result and the second test result.

[0104] The test unit 604 first obtains the analysis result of the sensor configuration file, then processes the test data according to the analysis result to obtain the original sensor data, and finally obtains the standard positioning result according to the original sensor data; in the case that there are multiple sensor configuration files, the test unit 604 will obtain multiple original sensor data, and each original sensor data corresponds to one sensor.​

[0105] Since the sensor data is time-series data, when the test unit 604 obtains the first test result, the first test result, which is a test result of the to-be-tested navigation device corresponding to the sensor data link, can be obtained according to comparison results of multiple time points after comparing the sensor data corresponding to the same time point in the time-series data.

[0106] Similarly, since the positioning result is also time-series data, when the test unit 604 obtains the second test result, the second test result, which is a test result of the to-be-tested navigation device corresponding to the positioning accuracy, can be obtained according to comparison results of multiple time points after comparing the positioning results corresponding to the same time point in the time-series data.

[0107] That is, the test unit 604 simultaneously completes the test of the sensor data link and the positioning accuracy of the to-be-tested navigation device through the two parts of the simulated sensor data and the simulated positioning result sent by the to-be-tested navigation device, thereby improving the comprehensiveness and efficiency of the simulation test of the to-be-tested navigation device.

[0108] The embodiment does not limit the communication mode between the first device and the to-be-tested navigation device, and the two can be wireless communication or wired communication.

[0109] Figure 7 is a schematic diagram according to the seventh embodiment of the present disclosure. As shown in Figure 7 the simulation test device 700 of the embodiment is applied to a second device and includes:

[0110] a first receiving unit 701, configured to receive test data and a sensor configuration file sent by a first device and obtain an analysis result of the sensor configuration file;

[0111] a processing unit 702, configured to process the test data according to the analysis result and obtain simulated sensor data;

[0112] a second sending unit 703, configured to determine a target data interface according to the analysis result, send the simulated sensor data to a to-be-tested navigation device through the target data interface, and use the simulated sensor data to obtain a simulated positioning result by the to-be-tested navigation device.

[0113] After the first receiving unit 701 receives the test data and the sensor configuration file sent by the first device, the sensor configuration file is analyzed to obtain an analysis result of the sensor configuration file.

[0114] The analysis result obtained by the first receiving unit 701 includes the sensor type, the interface type of the data interface between the sensor and the navigation device to be tested, the data frequency of the sensor, the conversion factor between the sensor and the test data, the data format of the sensor, and the like. The analysis result can further include the data error rate, the data error type, and the like.

[0115] In addition, if a plurality of sensor configuration files are received, the first receiving unit 701 obtains an analysis result for each sensor configuration file, and each analysis result corresponds to a sensor.

[0116] The second device of the embodiment processes the test data according to the analysis result obtained by the first receiving unit 701 to obtain the simulated sensor data.

[0117] When the processing unit 702 processes the test data according to the analysis result to obtain the simulated sensor data, the processing unit 702 can convert the test data of a standard dimension into binary / hexadecimal data corresponding to the sensor according to the sensor parameters in the analysis result, such as the conversion factor between the sensor and the test data and the data format of the sensor, so that the data format of the simulated sensor data corresponds to the sensor.

[0118] Similarly, if a plurality of analysis results are obtained, the processing unit 702 processes the test data according to each analysis result to obtain a plurality of simulated sensor data, and each simulated sensor data corresponds to a sensor.

[0119] That is, the processing unit 702 processes the test data according to the sensor configuration file to obtain the simulated sensor data, so that the data format of the simulated sensor data matches the corresponding sensor, thereby reducing the cost of obtaining the simulated sensor data that matches different sensors and improving the accuracy of the obtained simulated sensor data.

[0120] When the processing unit 702 processes the test data according to the analysis result to obtain the simulated sensor data, an optional implementation manner can be used, that is, processing the test data according to the sensor parameters in the analysis result to obtain first sensor data, and processing the first sensor data according to the data error rate and / or the data error type in the analysis result to obtain the simulated sensor data.

[0121] That is, the processing unit 702 first converts the test data into first sensor data with a data format matching the sensor, and then further processes the first sensor data according to the data error rate and / or the data error type to obtain the final simulated sensor data, thereby achieving the purpose of simulating the failure and error of the sensor data and improving the authenticity and accuracy of the simulated sensor data.

[0122] The second device of this embodiment determines a target data interface according to the analysis result by the second sending unit 703 after obtaining the analog sensor data by the processing unit 702, and sends the analog sensor data to the navigation device to be tested through the target data interface, so that the navigation device to be tested obtains a simulation positioning result according to the analog sensor data.

[0123] The second device of this embodiment is pre-configured with data interfaces corresponding to different interface types, for example, a UART interface, an SPI interface, a CAN interface, and the like.

[0124] When the second sending unit 703 determines the target data interface according to the analysis result, the second sending unit 703 can first obtain the interface type of the data interface between the sensor and the navigation device to be tested in the analysis result, and then take the data interface corresponding to the obtained interface type as the target data interface.

[0125] It can be understood that if multiple analysis results and analog sensor data are obtained, the second sending unit 703 determines a target data interface for each analysis result, and then sends different analog sensor data to the navigation device to be tested through the corresponding target data interface.

[0126] The second sending unit 703 can also send the analog sensor data to the navigation device to be tested through the target data interface according to the data reading logic and timing between the navigation device to be tested and the sensor.

[0127] Figure 8 is a schematic diagram according to the eighth embodiment of the present disclosure. As shown in Figure 8 The simulation test device 800 of this embodiment is applied to a navigation device to be tested, and includes:

[0128] a third receiving unit 801, configured to receive analog sensor data sent by a second device;

[0129] a computing unit 802, configured to obtain a simulation positioning result according to the analog sensor data;

[0130] a third sending unit 803, configured to send the simulation positioning result and the analog sensor data to a first device, so that the first device obtains a test result according to the simulation positioning result and the analog sensor data.

[0131] The navigation device to be tested in this embodiment can be a GNSS / INS (Inertial Navigation System) navigation device, or can be a navigation device of another type, which is not limited in this embodiment.

[0132] The number of analog sensor data received by the third receiving unit 801 can be one or multiple; different analog sensor data is sent by the second device through a corresponding data interface.

[0133] The navigation device to be tested in this embodiment obtains a simulation positioning result according to the analog sensor data by the computing unit 802 after receiving the analog sensor data by the third receiving unit 801.

[0134] The computing unit 802 can analyze the analog sensor data and obtain the simulation positioning result by self-sensor driving and built-in algorithm.

[0135] The navigation device to be tested in this embodiment sends the simulation positioning result and the analog sensor data to the first device by the third sending unit 803 after obtaining the simulation positioning result by the computing unit 802, so as to obtain the test result by the first device.

[0136] In the technical solution of the present disclosure, the acquisition, storage and application of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0137] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium and a computer program product.

[0138] As Figure 9 shown, it is a block diagram of an electronic device according to the simulation test method of the embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are merely examples and are not intended to limit the implementations of the present disclosure described and / or claimed in this document.

[0139] As Figure 9 shown, the device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded into a random access memory (RAM) 903 from a storage unit 908. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902 and the RAM 903 are connected to each other through a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0140] A plurality of components in the device 900 are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a magnetic disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the device 900 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0141] The computing unit 901 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 901 performs various methods and processes described above, such as the simulation test method. For example, in some embodiments, the simulation test method can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 908.

[0142] In some embodiments, part or all of the computer program can be loaded and / or installed on the device 900 via the ROM 902 and / or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the simulation test method described above can be performed. Alternatively, in other embodiments, the computing unit 901 can be configured to perform the simulation test method by any other appropriate means, such as by means of firmware.

[0143] Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0144] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable computing apparatus to produce a machine, such that the program code, when executed by the processor or controller, implements the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, or entirely on a remote machine or server.

[0145] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0146] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0147] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0148] The computer system can include clients and servers. This relationship can be. The servers are typically remote from the clients with the interactions typically taking place over a communication network. The relationship between a client and a server is one of client-server relationship. The server can be a cloud server, also known as cloud computing server or cloud host, which is a host product in the cloud computing service system. The server can also be a server of a distributed system or a server combined with a blockchain.

[0149] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, without departing from the desired results of the technical solutions disclosed in the present disclosure, and this is not limited herein.

[0150] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A simulation testing method, comprising: The first device generates sensor configuration files based on the navigation device under test, with different sensor configuration files corresponding to different sensors; The test data and the sensor configuration file are sent to the second device so that the second device can generate simulated sensor data based on the test data and the sensor configuration file. Different simulated sensor data correspond to different sensors. The device receives simulated sensor data and simulated positioning results sent by the navigation device under test. The simulated sensor data is sent by the second device to the navigation device under test through a target data interface, and the target data interface corresponds to the parsing result of the sensor configuration file. The test results of the navigation device under test are obtained based on the sensor configuration file, the test data, the simulated sensor data, and the simulated positioning results. The step of obtaining the test results of the navigation device under test based on the sensor configuration file, the test data, the simulated sensor data, and the simulated positioning results includes: Based on the test data and the sensor configuration file, the raw sensor data and standard positioning results are obtained; Based on the original sensor data and the simulated sensor data, a first test result is obtained; Based on the standard positioning result and the simulation positioning result, a second test result is obtained; Based on the first test result and the second test result, the test result of the navigation device under test is obtained.

2. The method according to claim 1, wherein generating the sensor configuration file based on the navigation device under test includes: Based on the type and / or name of the navigation device under test, determine the number of sensors corresponding to the navigation device under test, as well as the name and / or type of the sensors; The sensor configuration file is generated based on the number of sensors and the names and / or types of the sensors.

3. The method according to any one of claims 1-2, wherein, The sensor configuration file contains the data error rate and / or data error type.

4. The method according to any one of claims 1-3, further comprising: The second device receives the test data and sensor configuration file sent by the first device, and obtains the parsing result of the sensor configuration file. Different sensor configuration files correspond to different sensors. The test data is processed based on the analysis results to obtain simulated sensor data. Different simulated sensor data correspond to different sensors. Based on the parsing results, the target data interface is determined, and the data is then processed through the target data interface. Simulated sensor data is sent to the navigation device under test so that the navigation device under test can obtain simulated positioning results based on the simulated sensor data. Different parsing results correspond to different data interfaces.

5. The method according to claim 4, wherein, The process of processing the test data based on the analysis results to obtain simulated sensor data includes: The test data is processed based on the sensor parameters in the analysis results to obtain the first sensor data; The first sensor data is processed based on the data error rate and / or data error type in the parsing results to obtain the simulated sensor data.

6. The method according to any one of claims 1-5, further comprising: The navigation device under test receives simulated sensor data sent by the second device through a target data interface, wherein the target data interface corresponds to the parsing result of the sensor configuration file; Based on the simulated sensor data, the simulated positioning result is obtained; The simulated positioning result and the simulated sensor data are sent to the first device so that the first device can obtain test results based on the simulated positioning result and the simulated sensor data.

7. A simulation testing device, comprising: The generation unit is used by the first device to generate sensor configuration files based on the navigation device to be tested. Different sensor configuration files correspond to different sensors. The first sending unit is used for the first device to send test data and the sensor configuration file to the second device, so that the second device can generate simulated sensor data according to the test data and the sensor configuration file, and different simulated sensor data correspond to different sensors; The third receiving unit is used for the first device to receive simulated sensor data and simulated positioning results sent by the navigation device under test. The simulated sensor data is sent by the second device to the navigation device under test through a target data interface, and the target data interface corresponds to the parsing result of the sensor configuration file. The testing unit is used by the first device to obtain the test results of the navigation device under test based on the sensor configuration file, the test data, the simulated sensor data and the simulated positioning results; Specifically, when the testing unit obtains the test results of the navigation device under test based on the sensor configuration file, the test data, the simulated sensor data, and the simulated positioning results, it performs the following: Based on the test data and the sensor configuration file, the raw sensor data and standard positioning results are obtained; Based on the original sensor data and the simulated sensor data, a first test result is obtained; Based on the standard positioning result and the simulation positioning result, a second test result is obtained; Based on the first test result and the second test result, the test result of the navigation device under test is obtained.

8. The apparatus according to claim 7, wherein when the generation unit generates a sensor configuration file based on the navigation device to be tested, it specifically performs the following: Based on the type and / or name of the navigation device under test, determine the number of sensors corresponding to the navigation device under test, as well as the name and / or type of the sensors; The sensor configuration file is generated based on the number of sensors and the names and / or types of the sensors.

9. The apparatus according to any one of claims 7-8, wherein, The sensor configuration file generated by the generation unit contains the data error rate and / or data error type.

10. The apparatus according to any one of claims 7-9, further comprising: The first receiving unit is used for the second device to receive test data and sensor configuration files sent by the first device, and to obtain the parsing result of the sensor configuration files. Different sensor configuration files correspond to different sensors. The processing unit is used by the second device to process the test data according to the analysis result to obtain simulated sensor data, and different simulated sensor data correspond to different sensors; The second sending unit is used by the second device to determine the target data interface based on the parsing result, and to send the simulated sensor data to the navigation device under test through the target data interface, so that the navigation device under test can obtain the simulated positioning result based on the simulated sensor data. Different parsing results correspond to different data interfaces.

11. The apparatus according to claim 10, wherein, When the processing unit processes the test data according to the analysis result to obtain simulated sensor data, it specifically performs the following: The test data is processed based on the sensor parameters in the analysis results to obtain the first sensor data; The first sensor data is processed based on the data error rate and / or data error type in the parsing results to obtain the simulated sensor data.

12. The apparatus according to any one of claims 7-11, further comprising: The third receiving unit is used for the navigation device under test to receive simulated sensor data sent by the second device through the target data interface, wherein the target data interface corresponds to the parsing result of the sensor configuration file; A calculation unit is used by the navigation device under test to obtain simulated positioning results based on the simulated sensor data; The third sending unit is used for the navigation device under test to send the simulated positioning result and the simulated sensor data to the first device, so that the first device can obtain the test result based on the simulated positioning result and the simulated sensor data.

13. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-6.

15. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-6.

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