High-precision map reconstruction software testing method and system based on ADASIS protocol

Abstract

The present invention relates to the field of data processing technology, and specifically to a high-precision map reconstruction software testing method and system based on the ADASIS protocol. The method comprises the following steps: pre-processing the acquired road information corresponding to the current position of a vehicle to be tested, packaging the information into a POSITION message and sending it to a whole vehicle network; parsing a signal 1 of the road information corresponding to the current position of the vehicle in the POSITION message acquired from the whole vehicle network; querying the road information signal to be tested from map data reconstructed by high-precision map (HR) software based on the current position of the vehicle in the POSITION message, and obtaining a signal 2; collecting two signals during the test process, judging whether the difference between the two signals is within an error range, and obtaining a test result by comparison to test whether the map road information data reconstructed by the HR software is consistent with the data in the HP. The method and system can reduce the difficulty of software testing and improve testing efficiency.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a high-precision map reconstruction software testing method and system based on the ADASIS protocol. Background Art

[0002] Compared with current ordinary navigation maps, high-precision maps are maps with higher precision and higher definition. They can provide road data of the road network for advanced automatic assisted driving, such as lane-level road slope, curvature, heading, elevation and other data attributes.

[0003] Among them, the high-precision map reconstruction software (HR, Horizon Reconstructor) plays a connecting role in the entire system. The high-precision map HR software needs to ensure accurate parsing and storage of map road information sent from the high-precision map provider (HP, Horizon Provider) to ensure that the map road information provided to the subsequent ADASIS (Advanced Driver Assistance Systems Interface Specification, a data communication protocol proposed by the ADASIS Association for extracting road traffic information in front of or around the vehicle from high-precision maps) applications is valid.

[0004] However, using traditional software testing methods to test the accuracy of the map storage function of high-precision map HR software requires writing test code for each program statement branch, which is very time-consuming and labor-intensive. Therefore, a high-precision map reconstruction software testing method is urgently needed to improve testing efficiency. Summary of the Invention

[0005] In view of this, the present invention provides a high-precision map reconstruction software testing method and system based on the ADASIS protocol, which is used to test whether the map road information data reconstructed by the high-precision map HR software is consistent with the data in the high-precision map HP software, which can reduce the difficulty of software testing and improve testing efficiency.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a method for testing high-precision map reconstruction software based on the ADASIS protocol, comprising the following steps:

[0008] Modify the high-precision map HP software logic to pre-process the road information corresponding to the current position of the vehicle to be tested, package it into a POSITION message and send it to the vehicle network;

[0009] Modify the HD map HR software logic to parse the signal 1 of the road information corresponding to the vehicle's current position in the POSITION message obtained from the vehicle network;

[0010] Based on the current position of the vehicle in the POSTION message, query the road information signal to be tested from the map data reconstructed by the high-precision map HR software to obtain signal 2;

[0011] During the test, two signals, Signal 1 and Signal 2, are collected. On each identical time axis of the entire GPS signal playback process, it is determined whether the difference between Signal 1 and Signal 2 is within the error range. If so, the map reconstruction function test of the high-precision map HR software is determined to have passed, otherwise it fails.

[0012] As a further solution of the present invention, the high-precision map HP software logic is modified, including:

[0013] Add a GPS positioning signal offline playback module to the high-precision map HP software to play back the GPS positioning signal for testing and establish different test scenarios;

[0014] After modifying the high-precision map HP software logic, the road information to be tested corresponding to the vehicle's current position is preprocessed, and unnecessary signals are replaced and packaged into the POSITION message.

[0015] As a further solution of the present invention, the high-precision map HR software logic is modified, including:

[0016] A POSITION message parsing module is added to the high-precision map HR software to obtain the POSITION message from the vehicle network and parse the POSITION message to obtain the road information signal to be tested.

[0017] As a further solution of the present invention, before modifying the logic of the high-precision map HP software and the logic of the high-precision map HR software, the communication method between the high-precision map HP software and the high-precision map HR software includes the following steps:

[0018] The high-precision map HP software obtains GPS positioning signals to match built-in high-precision map data, and packages them into Position messages and Profile messages and sends them to the vehicle network;

[0019] The high-precision map HR software obtains Position messages and Profile messages from the vehicle network, parses the signals, and reconstructs the map road information data within the high-precision map HR software.

[0020] As a further solution of the present invention, collecting two signals, signal 1 and signal 2, during the test process includes:

[0021] Use the test system to replay the GPS signal trajectory data in the test scenario for all test cases, collect the corresponding POSITION and PROFILE messages sent by the high-precision map HP software, and the high-precision map HR software synchronously receives the messages and outputs two signals, signal 1 and signal 2.

[0022] As a further solution of the present invention, the high-precision map reconstruction software testing method based on the ADASIS protocol also includes:

[0023] If the map reconstruction function test of the high-precision map HR software passes, after this test scenario passes, continue to use the GPS tracks of other test scenarios for playback testing until all test cases pass. Otherwise, the high-precision map HR software needs to be repaired until all test cases pass.

[0024] As a further solution of the present invention, the high-precision map HP software logic is modified to pre-process the road information corresponding to the current position of the vehicle to be tested, and package it into a POSITION message and send it to the vehicle network, which also includes:

[0025] Pack and send the road information that matches the vehicle's current location into a PROFILE message and send it to the vehicle network;

[0026] The high-precision map HR software obtains and stores the road information in the PROFILE message from the vehicle network.

[0027] As a further solution of the present invention, in the high-precision map HR software, the map road information data is reconstructed based on the analysis of the vehicle's current position signal in the POSITION message sent by the high-precision map HP software and the stored road information sent by the high-precision map HP software. The vehicle's current position is used to query the corresponding road information from the data reconstructed by the high-precision map HR software to obtain signal 2.

[0028] In a second aspect, a solution provided by the present invention provides a high-precision map reconstruction software testing system based on the ADASIS protocol, which is used to execute the high-precision map reconstruction software testing method based on the ADASIS protocol; the system includes high-precision map HP software and high-precision map HR software, and the high-precision map HP software and the high-precision map HR software are connected via a vehicle network communication;

[0029] The high-precision map HP software includes a GPS positioning signal offline playback module and a message packaging module; the GPS positioning signal offline playback module is used to play back the GPS positioning signal for testing and establish different test scenarios; the message packaging module is used to package the road information to be tested corresponding to the vehicle's current position into a POSITION message and send it to the vehicle network;

[0030] The high-precision map HR software includes a message parsing module, a data reconstruction module and a signal generation module. The message parsing module is used to parse the POSITION message obtained from the whole vehicle network, and the data reconstruction module is used to reconstruct the map road information data within the high-precision map HR software after parsing the signal; the signal generation module is used to parse the signal 1 of the road information corresponding to the current position of the vehicle in the POSITION message obtained from the whole vehicle network, and is also used to query the road information signal to be tested from the map data reconstructed by the high-precision map HR software to obtain signal 2.

[0031] As a further solution of the present invention, it also includes a signal comparison module, which is used to collect two signals, signal 1 and signal 2, during the test process, determine whether the difference between signal 1 and signal 2 is within the error range, and obtain the test result by comparison.

[0032] In a third aspect, in another solution provided by the present invention, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of a high-precision map reconstruction software testing method based on the ADASIS protocol when loading and executing the computer program.

[0033] In a fourth aspect, in another solution provided by the present invention, a storage medium is provided, which stores a computer program, and when the computer program is loaded and executed by a processor, the steps of the high-precision map reconstruction software testing method based on the ADASIS protocol are implemented.

[0034] The technical solution provided by the present invention has the following beneficial effects:

[0035] The high-precision map reconstruction software testing method and system based on the ADASIS protocol provided by the present invention, compared with the traditional software statement-by-statement branch testing method, the present invention pre-processes the road information corresponding to the current position of the vehicle to be tested, packages it into a POSITION message and sends it to the whole vehicle network, parses the signal 1 of the road information corresponding to the current position of the vehicle in the POSITION message obtained from the whole vehicle network; based on the current position of the vehicle in the POSITION message, queries the road information signal to be tested from the map data reconstructed by the high-precision map HR software to obtain signal 2, collects two signals of signal 1 and signal 2 during the test process, determines whether the difference between signal 1 and signal 2 is within the error range, obtains the test result by comparison, and tests whether the map road information data reconstructed by the HR software is consistent with the data in HP. This method and system can reduce the difficulty of software testing work and improve testing efficiency. There is no need to specially write test statements for the program, and the whole vehicle's on-site road condition GPS data can be directly used for testing. The testing method is simple and effective, and the test results are intuitive and easy to obtain.

[0036] These and other aspects of the present invention will become more readily apparent in the following description of the embodiments. It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. In the drawings:

[0038] Figure 1 This is a flowchart of a high-precision map reconstruction software testing method based on the ADASIS protocol according to an embodiment of the present invention.

[0039] Figure 2 This is a structural block diagram of the ADASIS high-precision map system in a high-precision map reconstruction software testing method based on the ADASIS protocol in an embodiment of the present invention.

[0040] Figure 3 This is a flowchart of a high-precision map reconstruction software testing method based on the ADASIS protocol according to an embodiment of the present invention.

[0041] Figure 4 This is a structural block diagram of a computer device in a high-precision map reconstruction software testing method based on the ADASIS protocol according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0043] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or may be executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit "first" and "second" to be different types.

[0044] The following will clearly and completely describe the technical solutions in the exemplary embodiments of the present invention in conjunction with the accompanying drawings of the exemplary embodiments of the present invention. Obviously, the exemplary embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] Traditional software testing methods for testing the accuracy of the map storage function of high-precision map (HR) software require writing test code for each program statement branch, which is very time-consuming and labor-intensive. To address this issue, the present invention provides a high-precision map reconstruction software testing method and system based on the ADASIS protocol, which is used to test whether the map road information data reconstructed by the high-precision map (HR) software is consistent with the data in the high-precision map (HP) software. This reduces the difficulty of software testing and improves testing efficiency.

[0046] Specifically, the embodiments of the present application are further described below with reference to the accompanying drawings.

[0047] See also Figure 1 As shown, one embodiment of the present invention provides a high-precision map reconstruction software testing method based on the ADASIS protocol, comprising the following steps:

[0048] Step S10: Modify the high-precision map HP software logic, pre-process the road information corresponding to the current position of the vehicle to be tested, and package it into a POSITION message and send it to the vehicle network;

[0049] Step S20: Modify the high-precision map HR software logic to parse signal 1 of the road information corresponding to the vehicle's current position in the POSITION message obtained from the vehicle network;

[0050] Step S30: Based on the current position of the vehicle in the POSTION message, query the map data reconstructed by the high-precision map HR software to obtain the road information signal to be tested, and obtain signal 2;

[0051] Step S40: Collect two signals, signal 1 and signal 2, during the test process. On each identical time axis of the entire GPS signal playback process, determine whether the difference between signal 1 and signal 2 is within the error range. If so, the map reconstruction function test of the high-precision map HR software is determined to have passed, otherwise it fails.

[0052] In this embodiment, the high-precision map HP software logic is modified, including:

[0053] Add a GPS positioning signal offline playback module to the high-precision map HP software to play back the GPS positioning signal for testing and establish different test scenarios;

[0054] After modifying the high-precision map HP software logic, the road information to be tested corresponding to the vehicle's current position is preprocessed, and unnecessary signals are replaced and packaged into the POSITION message.

[0055] In this embodiment, the high-precision map HR software logic is modified, including:

[0056] A POSITION message parsing module is added to the high-precision map HR software to obtain the POSITION message from the vehicle network and parse the POSITION message to obtain the road information signal to be tested.

[0057] Before modifying the HD Map HP software logic and HD Map HR software logic, see Figure 2 As shown, the communication method between the high-precision map HP software and the high-precision map HR software includes the following steps:

[0058] The high-precision map HP software obtains GPS positioning signals to match built-in high-precision map data, and packages them into Position messages and Profile messages and sends them to the vehicle network;

[0059] The high-precision map HR software obtains Position messages and Profile messages from the vehicle network, parses the signals, and reconstructs the map road information data within the high-precision map HR software.

[0060] See also Figure 3As shown, in this embodiment, two signals, Signal 1 and Signal 2, are collected during the test process, including: using the test system to replay the GPS signal trajectory data in the test scenario for all test cases, collecting the corresponding POSITION and PROFILE messages sent by the high-precision map HP software, and the high-precision map HR software synchronously receiving the messages and outputting two signals, Signal 1 and Signal 2.

[0061] In this embodiment, the high-precision map reconstruction software testing method based on the ADASIS protocol also includes: if the map reconstruction function test of the high-precision map HR software passes, then after this test scenario passes, continue to use the GPS tracks of other test scenarios for playback testing until all test cases pass; otherwise, the high-precision map HR software needs to be repaired until all test cases pass.

[0062] In this embodiment, the high-precision map HP software logic is modified, and the road information corresponding to the current position of the vehicle to be tested is preprocessed and packaged into a POSITION message and sent to the whole vehicle network. It also includes: packaging and sending the road information matching the current position of the vehicle into a PROFILE message and sending it to the whole vehicle network; the high-precision map HR software obtains the road information in the PROFILE message from the whole vehicle network and stores it.

[0063] In this embodiment, the high-precision map HR software reconstructs the map road information data based on the analysis of the vehicle's current position signal in the POSITION message sent by the high-precision map HP software and the stored road information sent by the high-precision map HP software. The vehicle's current position is used to query the corresponding road information from the data reconstructed by the high-precision map HR software to obtain signal 2.

[0064] Therefore, see Figure 1 and Figure 3 As shown, the high-precision map reconstruction software testing method based on the ADASIS protocol of the present invention is used to test whether the map road information data reconstructed by the HR software is consistent with the data in the HP. The specific implementation process of the method is as follows:

[0065] (1) By adding the offline playback function of GPS positioning signals to the HP software, it is convenient to establish different test scenarios.

[0066] (2) Modify the HP software and replace unnecessary signals with the road information (slope, curvature, etc.) that needs to be tested corresponding to the vehicle's current position, and package it into the POSITION message.

[0067] (3) Modify the HR software and add the function of parsing the signal to be tested from the POSITION message. The parsed signal is recorded as signal 1.

[0068] (4) Modify the HR software and use the vehicle's current position in the POSITION message to query the road information (slope, curvature, etc.) signal that needs to be tested from the map road data reconstructed by HR. The queried signal is recorded as signal 2.

[0069] (5) Using the automatic test result comparison system, the GPS playback process for all test cases is used to collect two signals output by the HR software. Signal 1 represents the HP map data, and Signal 2 represents the HR reconstruction data. If the values ​​of Signal 1 and Signal 2 are within the error range at every moment during the entire GPS signal playback process, then it can be quickly determined that the HR software's map reconstruction function test has passed. Otherwise, it has failed.

[0070] It should be noted that in this embodiment, the HD map is a map with higher precision and higher definition than current ordinary navigation maps, and can provide road network data for advanced automatic assisted driving, such as lane-level road slope, curvature, heading, elevation and other data attributes. ADAS stands for Advanced Driving Assistance System. ADASIS stands for Advanced Driver Assistance Systems Interface Specification, a data communication protocol proposed by the ADASIS Association for extracting road traffic information in front of or around the vehicle from HD maps.

[0071] In this embodiment, the POSITION message transmits information such as the vehicle's current position, speed, lane position, and position information reliability. AHP / HP (ADASIS Horizon Provider) is a high-precision map provider, referred to as Av2HP for the second version of the protocol. AHR / HR (ADASIS Horizon Reconstructor) is a high-precision map reconstructor, referred to as Av2HR for the second version of the protocol. ADASIS Application is an advanced automated assisted driving application based on the ADASIS protocol.

[0072] HR (high-precision map reconstruction software) plays a connecting role in the entire system. HR software needs to ensure accurate parsing and storage of map road information sent from HP to ensure that the map road information provided to subsequent ADASIS applications is valid. Using traditional software testing methods to test the accuracy of the map storage function of HR software requires writing test code for each statement branch of the program, which is very time-consuming and labor-intensive. Using this patented method can improve testing efficiency.

[0073] Therefore, compared with the traditional software statement-by-statement branch testing method, the high-precision map reconstruction software test based on the ADASIS protocol of the present invention pre-processes the road information corresponding to the current position of the vehicle to be tested, packages it into a POSITION message and sends it to the whole vehicle network, and parses the signal 1 of the road information corresponding to the current position of the vehicle in the POSITION message obtained from the whole vehicle network; based on the current position of the vehicle in the POSITION message, the road information signal to be tested is queried from the map data reconstructed by the high-precision map HR software to obtain signal 2, collects two signals of signal 1 and signal 2 during the test process, and determines whether the difference between signal 1 and signal 2 is within the error range. The test results are obtained by comparison to test whether the map road information data reconstructed by the HR software is consistent with the data in HP. This method and system can reduce the difficulty of software testing and improve testing efficiency. There is no need to specially write test statements for the program. The vehicle's on-site road condition GPS data can be directly used for testing. The testing method is simple and effective, and the test results are intuitive and easy to obtain.

[0074] See also Figure 3 As shown, one embodiment of the present invention provides a high-precision map reconstruction software testing system based on the ADASIS protocol, and the high-precision map reconstruction software testing system based on the ADASIS protocol is used to execute the above-mentioned high-precision map reconstruction software testing method based on the ADASIS protocol; the system includes high-precision map HP software and high-precision map HR software, and the high-precision map HP software and the high-precision map HR software are connected through the vehicle network communication.

[0075] In the embodiments of the present invention, see Figure 1 and Figure 3 As shown, the high-precision map HP software includes a GPS positioning signal offline playback module and a message packaging module; the GPS positioning signal offline playback module is used to play back the GPS positioning signal for testing and establish different test scenarios; the message packaging module is used to package the road information to be tested corresponding to the current position of the vehicle into a POSITION message and send it to the entire vehicle network.

[0076] The high-precision map HR software includes a message parsing module, a data reconstruction module and a signal generation module. The message parsing module is used to parse the POSITION message obtained from the whole vehicle network, and the data reconstruction module is used to reconstruct the map road information data within the high-precision map HR software after parsing the signal; the signal generation module is used to parse the signal 1 of the road information corresponding to the current position of the vehicle in the POSITION message obtained from the whole vehicle network, and is also used to query the road information signal to be tested from the map data reconstructed by the high-precision map HR software to obtain signal 2.

[0077] In some embodiments, the high-precision map reconstruction software testing system based on the ADASIS protocol also includes a signal comparison module, which is used to collect two signals, signal 1 and signal 2, during the test process, determine whether the difference between signal 1 and signal 2 is within the error range, and obtain the test result by comparison.

[0078] The high-precision map reconstruction software testing system based on the ADASIS protocol of the present invention, when used to execute the above-mentioned high-precision map reconstruction software testing method based on the ADASIS protocol, includes the following steps:

[0079] Step 1: Modify the HD map HP software logic, match and query the road information (slope, curvature, etc.) corresponding to the current position of the vehicle to be tested from the HD map database, and then package it into the POSITION message to replace the signals not needed in the test.

[0080] Step 2: Modify the high-precision map HR software logic and parse the signal 1 of the road information (slope, curvature, etc.) corresponding to the vehicle's current position in the POSITION message sent by the HP to be tested.

[0081] Step 3: Modify the high-precision map HR software logic, use the vehicle's current position signal in the POSTION message sent by HP, and query the corresponding road information (slope, curvature, etc.) to be tested from the high-precision map data reconstructed by HR to obtain signal 2.

[0082] Step 4: Play back the GPS signal trajectory data of a certain test scenario in the test system. The HP software sends the corresponding POSITION and PROFILE messages. The HR synchronously receives the messages and outputs the two signals of steps 2 and 3.

[0083] Step 5: Collect two signals during the test process. On each identical time axis during the entire GPS signal playback process, if the difference between the two is within the error range, the map reconstruction function test of the HR software is judged to have passed; otherwise, it fails.

[0084] Step 6: If the current test scenario passes, continue replaying the GPS tracks of other test scenarios until all test cases pass. Otherwise, repair the HR software until all test cases pass.

[0085] Compared with the traditional software statement-by-statement branch testing method, the present invention provides a highly efficient testing system for high-precision map reconstruction software based on the ADASIS protocol. When executing the high-precision map reconstruction software testing method based on the ADASIS protocol, there is no need to specially write test statements for the program, and the vehicle's on-site road condition GPS data can be directly used for testing.

[0086] It should be understood that, although the above is described in a certain order, these steps are not necessarily performed in sequence according to the above order. Unless there is clear explanation in this article, the execution of these steps does not have strict order restriction, and these steps can be performed in other orders. Moreover, a part of the steps of the present embodiment may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be performed in turn or alternately with at least a portion of the steps or stages in other steps or other steps.

[0087] In one embodiment, see Figure 4 As shown, in an embodiment of the present invention, a computer device 1000 is further provided, comprising at least one processor 1002, and a memory 1001 communicatively connected to the at least one processor 1002, wherein the memory 1001 stores instructions executable by the at least one processor 1002, and the instructions are executed by the at least one processor 1002 to enable the at least one processor 1002 to perform the high-precision map reconstruction software testing method based on the ADASIS protocol. When the processor 1002 executes the instructions, the steps in the above-mentioned method embodiments are implemented:

[0088] The ASIS protocol's high-precision map reconstruction software testing method includes the following steps:

[0089] Step 1: Modify the HD map HP software logic, match and query the road information (slope, curvature, etc.) corresponding to the current position of the vehicle to be tested from the HD map database, and then package it into the POSITION message to replace the signals not needed in the test.

[0090] Step 2: Modify the high-precision map HR software logic and parse the signal 1 of the road information (slope, curvature, etc.) corresponding to the vehicle's current position in the POSITION message sent by the HP to be tested.

[0091] Step 3: Modify the high-precision map HR software logic, use the vehicle's current position signal in the POSTION message sent by HP, and query the corresponding road information (slope, curvature, etc.) to be tested from the high-precision map data reconstructed by HR to obtain signal 2.

[0092] Step 4: Play back the GPS signal trajectory data of a certain test scenario in the test system. The HP software sends the corresponding POSITION and PROFILE messages. The HR synchronously receives the messages and outputs the two signals of steps 2 and 3.

[0093] Step 5: Collect two signals during the test process. On each identical time axis during the entire GPS signal playback process, if the difference between the two is within the error range, the map reconstruction function test of the HR software is judged to have passed; otherwise, it fails.

[0094] Step 6: If the current test scenario passes, continue replaying the GPS tracks of other test scenarios until all test cases pass. Otherwise, repair the HR software until all test cases pass.

[0095] In an exemplary embodiment of the present invention, a computer-readable storage medium is further provided, on which a program product capable of implementing the above-described method of this specification is stored. In some possible embodiments, various aspects of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is used to cause the terminal device to execute the high-precision map reconstruction software testing method based on the ADASIS protocol according to various exemplary embodiments of the present invention described in the "Exemplary Method" section above. The high-precision map reconstruction software testing method based on the ADASIS protocol includes:

[0096] The ASIS protocol's high-precision map reconstruction software testing method includes the following steps:

[0097] Step 1: Modify the HD map HP software logic, match and query the road information (slope, curvature, etc.) corresponding to the current position of the vehicle to be tested from the HD map database, and then package it into the POSITION message to replace the signals not needed in the test.

[0098] Step 2: Modify the high-precision map HR software logic and parse the signal 1 of the road information (slope, curvature, etc.) corresponding to the vehicle's current position in the POSITION message sent by the HP to be tested.

[0099] Step 3: Modify the high-precision map HR software logic, use the vehicle's current position signal in the POSTION message sent by HP, and query the corresponding road information (slope, curvature, etc.) to be tested from the high-precision map data reconstructed by HR to obtain signal 2.

[0100] Step 4: Play back the GPS signal trajectory data of a certain test scenario in the test system. The HP software sends the corresponding POSITION and PROFILE messages. The HR synchronously receives the messages and outputs the two signals of steps 2 and 3.

[0101] Step 5: Collect two signals during the test process. On each identical time axis during the entire GPS signal playback process, if the difference between the two is within the error range, the map reconstruction function test of the HR software is judged to have passed; otherwise, it fails.

[0102] Step 6: If the current test scenario passes, continue replaying the GPS tracks of other test scenarios until all test cases pass. Otherwise, repair the HR software until all test cases pass.

[0103] In an exemplary embodiment of the present invention, a program product for implementing the above-described method according to an embodiment of the present invention is described. The program product may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0104] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0105] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0106] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0107] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0108] Those skilled in the art will appreciate that all or part of the processes in the above-described embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above-described methods. Any reference to memory, storage, database, or other media used in the embodiments provided herein may include at least one of non-volatile and volatile memory.

[0109] In summary, the high-precision map reconstruction software testing method and system based on the ADASIS protocol provided by the present invention, compared with the traditional software statement-by-statement branch testing method, the present invention pre-processes the road information corresponding to the current position of the vehicle to be tested, and packages it into a POSITION message and sends it to the whole vehicle network, and parses the signal 1 of the road information corresponding to the current position of the vehicle in the POSITION message obtained from the whole vehicle network; based on the current position of the vehicle in the POSITION message, the road information signal to be tested is queried from the map data reconstructed by the high-precision map HR software to obtain signal 2, collects two signals of signal 1 and signal 2 during the test process, and determines whether the difference between signal 1 and signal 2 is within the error range. The test results are obtained by comparison to test whether the map road information data reconstructed by the HR software is consistent with the data in HP. This method and system can reduce the difficulty of software testing work and improve testing efficiency. There is no need to specially write test statements for the program. The vehicle's on-site road condition GPS data can be directly used for testing. The testing method is simple and effective, and the test results are intuitive and easy to obtain.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-precision map reconstruction software testing method based on the ADASIS protocol, characterized in that: The following steps are involved: Modify the high-precision map HP software logic to pre-process the road information corresponding to the current position of the vehicle to be tested, package it into a POSITION message and send it to the vehicle network; Modify the HD map HR software logic to parse the signal 1 of the road information corresponding to the vehicle's current position in the POSITION message obtained from the vehicle network; Based on the current position of the vehicle in the POSITION message, query the road information signal to be tested from the map data reconstructed by the high-precision map HR software to obtain signal 2; During the test, two signals, Signal 1 and Signal 2, are collected. On each identical time axis of the entire GPS signal playback process, it is determined whether the difference between Signal 1 and Signal 2 is within the error range. If so, the map reconstruction function test of the high-precision map HR software is determined to have passed, otherwise it fails.

2. The high-precision map reconstruction software testing method based on the ADASIS protocol according to claim 1, characterized in that: Modify the high-precision map HP software logic, including: Add a GPS positioning signal offline playback module to the high-precision map HP software to play back the GPS positioning signal for testing and establish different test scenarios; After modifying the high-precision map HP software logic, the road information to be tested corresponding to the vehicle's current position is preprocessed, and unnecessary signals are replaced and packaged into the POSITION message.

3. The high-precision map reconstruction software testing method based on the ADASIS protocol according to claim 2, characterized in that: Modify the HD map HR software logic, including: A POSITION message parsing module is added to the high-precision map HR software to obtain the POSITION message from the vehicle network and parse the POSITION message to obtain the road information signal to be tested.

4. The high-precision map reconstruction software testing method based on the ADASIS protocol according to claim 3, characterized in that: Before modifying the logic of the HD Map HP software and the HD Map HR software, the communication method between the HD Map HP software and the HD Map HR software includes the following steps: The high-precision map HP software obtains GPS positioning signals to match built-in high-precision map data, and packages them into Position messages and Profile messages and sends them to the vehicle network; The high-precision map HR software obtains Position messages and Profile messages from the vehicle network, parses the signals, and reconstructs the map road information data within the high-precision map HR software.

5. The high-precision map reconstruction software testing method based on the ADASIS protocol according to claim 1, characterized in that: The two signals, signal 1 and signal 2, are collected during the test process, including: Use the test system to replay the GPS signal trajectory data in the test scenario for all test cases, collect the corresponding POSITION and PROFILE messages sent by the high-precision map HP software, and the high-precision map HR software synchronously receives the messages and outputs two signals, signal 1 and signal 2.

6. The high-precision map reconstruction software testing method based on the ADASIS protocol according to claim 1, characterized in that: The high-precision map reconstruction software testing method based on the ADASIS protocol also includes: If the map reconstruction function test of the high-precision map HR software passes, after this test scenario passes, continue to use the GPS tracks of other test scenarios for playback testing until all test cases pass. Otherwise, the high-precision map HR software needs to be repaired until all test cases pass.

7. The high-precision map reconstruction software testing method based on the ADASIS protocol according to claim 1, characterized in that: Modify the high-precision map HP software logic to pre-process the road information corresponding to the current position of the vehicle under test, package it into a POSITION message and send it to the vehicle network, including: Pack and send the road information that matches the vehicle's current location into a PROFILE message and send it to the vehicle network; The high-precision map HR software obtains and stores the road information in the PROFILE message from the vehicle network.

8. The high-precision map reconstruction software testing method based on the ADASIS protocol according to claim 7, characterized in that: In the high-precision map HR software, the map road information data is reconstructed based on the analysis of the vehicle's current position signal in the POSITION message sent by the high-precision map HP software and the stored road information sent by the high-precision map HP software. The vehicle's current position is used to query the corresponding road information from the data reconstructed by the high-precision map HR software to obtain signal 2.

9. A high-precision map reconstruction software testing system based on the ADASIS protocol, characterized in that: The high-precision map reconstruction software testing system based on the ADASIS protocol is used to execute the high-precision map reconstruction software testing method based on the ADASIS protocol according to any one of claims 1 to 8; the system includes high-precision map HP software and high-precision map HR software, and the high-precision map HP software and the high-precision map HR software are connected via a vehicle network communication; The high-precision map HP software includes a GPS positioning signal offline playback module and a message packaging module; the GPS positioning signal offline playback module is used to play back the GPS positioning signal for testing and establish different test scenarios; the message packaging module is used to package the road information to be tested corresponding to the vehicle's current position into a POSITION message and send it to the vehicle network; The high-precision map HR software includes a message parsing module, a data reconstruction module and a signal generation module. The message parsing module is used to parse the POSITION message obtained from the whole vehicle network, and the data reconstruction module is used to reconstruct the map road information data within the high-precision map HR software after parsing the signal; the signal generation module is used to parse the signal 1 of the road information corresponding to the current position of the vehicle in the POSITION message obtained from the whole vehicle network, and is also used to query the road information signal to be tested from the map data reconstructed by the high-precision map HR software to obtain signal 2.

10. The high-precision map reconstruction software testing system based on the ADASIS protocol according to claim 9, characterized in that: It also includes a signal comparison module, which is used to collect two signals, signal 1 and signal 2, during the test process, determine whether the difference between the signal 1 and signal 2 is within the error range, and obtain the test result by comparison.

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