A highly reliable vehicle networking function verification system and method based on in-the-loop testing

Abstract

The present invention relates to a highly reliable vehicle networking function verification system and method based on in-the-loop testing, the system includes a MIL test subsystem, a SIL test subsystem and a HIL test subsystem, the MIL test subsystem includes an input protocol module, a Simulink algorithm model module and an output protocol module connected in sequence; the SIL test subsystem includes a first host computer connected to a device under test, the first host computer simulates the entire vehicle networking environment, simulates multiple opponent vehicles, and actively adapts the V2X message body ASN version of the device under test; the HIL test subsystem includes a second host computer connected to the device under test and interconnected, a V2X signal simulator and a GNSS simulator. Compared with the prior art, the present invention has the advantages of ensuring the comprehensiveness, authenticity and reproducibility of the test.

Description

Technical Field

[0001] The present invention relates to the field of Internet of Vehicles, and in particular to a highly reliable Internet of Vehicles function verification system and method based on in-the-loop testing. Background Art

[0002] C-V2X vehicle networking is an emerging vehicle-to-vehicle communication technology based on cellular communication. Relying on the interconnection characteristics of C-V2X, intelligent connected vehicles can complete a series of C-V2X functional application scenarios such as early warning reminders and cooperative traffic. However, since C-V2X has not yet been commercialized, many functions are still in the experimental stage. In addition, the above-mentioned C-V2X application scenarios such as cooperative lane change, cooperative vehicle merging, and forward collision warning are dangerous. If real vehicle tests are carried out directly, it is both dangerous and destructive to experimental equipment. Therefore, bench-level closed-loop testing is particularly necessary. The existing technology discloses a V2X vehicle networking in-loop simulation system CN107728491B, which belongs to the field of vehicle networking. The system is mainly built by IPG Carmaker vehicle networking simulation platform (01), Simulink environment module (02), channel simulator (03), V2X communication terminal (04) and V2X roadside equipment (05). IPG Carmaker simulation tool is responsible for building simulation scenarios and configuring simulation parameters; Simulink environment module is responsible for building channel models, simulation scenarios and real scenario mapping models, control models and communication models, etc.; channel simulator is used to perform performance tests on LTE V and 802.11p communication protocols; V2X communication terminal obtains scenario information by establishing a connection with Simulink communication model to realize in-loop simulation; V2X roadside equipment imports the acquired real scenario information into the simulation scenario to realize outdoor testing function. Each module complements each other to form a complete in-loop simulation system, providing a good testing and verification platform for Internet of Vehicles applications.

[0003] However, the existing technology does not mention whether it is possible to simulate multiple opponent vehicles and simulate the C-V2X information sent by multiple opponent vehicles. When the ASN version of the C-V2X message body of the simulation platform is inconsistent with the message body of the device under test, no adaptation is made to the ASN version compatibility. In addition, only HIL testing is implemented without SIL and MIL testing, which makes it difficult to ensure the comprehensiveness, authenticity and reproducibility of the test. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a high-reliability vehicle network function verification system and method based on in-the-loop testing that integrates SIL, MIL and HIL tests.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A highly reliable vehicle networking function verification system based on in-the-loop testing, the system includes a MIL test subsystem, a SIL test subsystem and a HIL test subsystem.

[0007] Among them, the MIL test subsystem includes an input protocol module, a Simulink algorithm model module and an output protocol module which are connected in sequence;

[0008] Among them, the input protocol module is used to define the basic information of the experimental vehicle and establish socket communication; the Simulink algorithm model module is used to receive the basic information of the experimental vehicle, the algorithm model operation and output the algorithm results. The structure of the Simulink algorithm model module is different in different scenarios; the output protocol module is used to receive the algorithm results and perform statistical analysis on the algorithm results;

[0009] The SIL test subsystem includes a first host computer connected to the device under test, wherein the first host computer simulates the entire Internet of Vehicles environment, simulates multiple opponent vehicles, and actively adapts the ASN version of the V2X message body of the device under test;

[0010] The HIL test subsystem includes a second host computer, a V2X signal simulator and a GNSS simulator connected to the DUT and to each other, wherein:

[0011] The second host computer is used for:

[0012] Simulate the CAN protocol, receive network layer V2X information, and send processed V2X information;

[0013] Detect the C-V2X scenario function of the DUT based on the feedback information of the DUT;

[0014] Adapt according to its own ASN and the ASN version of the device under test;

[0015] Joint V2X signal simulator simulates large-scale testing;

[0016] The V2X signal simulator is used to convert the received network layer V2X information into radio frequency signals, transmit them to the DUT, configure the GNSS simulator, and simulate the V2X signals of large-scale opponent vehicles;

[0017] The GNSS simulator is used to synchronize time with the V2X signal simulator, receive the main vehicle position information from the second host computer, and convert the main vehicle position information into a radio frequency signal and transmit it to the device under test.

[0018] Furthermore, the Simulink algorithm model module in the second-stage cooperative lane change scenario includes a UDP receiving module, a byte unpacking module, a data type conversion module, an S function module, a Matlab function module, a subsystem module, a byte packing module, a UDP sending module and a display module, wherein:

[0019] UDP receiving module, used to receive UDP master and remote vehicle data in the basic information of the experimental vehicle;

[0020] Byte unpacking module, used to unpack the received data;

[0021] The data type conversion module is used to convert the received int32 and uint16 type data into the double type that can be input into the S-function module, and convert the received double type data into the int32 type that is desired to be sent;

[0022] The S function module is used to receive the main vehicle and remote vehicle data in the basic information of the experimental vehicle and determine the relative position of the two vehicles;

[0023] Matlab function module, used to determine whether the remote vehicle is in front of the host vehicle in the adjacent lane and requests to change lanes to the host vehicle's lane;

[0024] The subsystem module is used to calculate and compare the time it takes for the two vehicles to catch up, and output the recommended driving mode for the main vehicle and the remote vehicle based on the time;

[0025] Byte packing module, used to pack the data to be output;

[0026] UDP sending module, used to send the packaged data via UDP;

[0027] Display module, used to display output results.

[0028] Furthermore, the output results include: no warning, accelerated passage and decelerated passage.

[0029] Furthermore, the Simulink algorithm model module in the perception data sharing environment includes a UDP receiving module, a byte unpacking module, a data type conversion module, a Matlab function module, a byte packing module, a UDP sending module and a display module, wherein:

[0030] UDP receiving module, used to receive UDP main vehicle data and remote vehicle perception data in the basic information of the experimental vehicle;

[0031] Byte unpacking module, used to unpack the received data;

[0032] The data type conversion module is used to convert the received int and uint16 type data into the double type that can be input by the Matlab function module, and convert the received double type data into the int32 type that is desired to be sent;

[0033] The Matlab function module senses the data type and whether the main vehicle intends to request data sharing, and outputs whether to share information and the type of shared data;

[0034] Byte packing module, used to pack the data to be output;

[0035] UDP sending module, used to send the packaged data via UDP;

[0036] Display module, used to display output results.

[0037] Furthermore, the output results include: not sending perception information, pedestrians ahead, vehicles ahead, and road events ahead.

[0038] Furthermore, in the HIL test subsystem, in order to realize the simulation of the CAN protocol by the second host computer, the simulation program is connected to the V2X simulator LAN, the IP address that can be connected to the V2X signal simulator is set, and 4 UDP connections are established, which are used to send scene control instructions, receive scene control feedback instructions, send V2X data packets, and receive V2X data packets.

[0039] Furthermore, the configuration of the GNSS simulator specifically includes: configuring the working mode of the GNSS simulator to be static or dynamic.

[0040] Furthermore, the output protocol module receives the algorithm result and sends the algorithm result to the compiler console.

[0041] Furthermore, the basic information of the experimental vehicle includes vehicle ID, vehicle latitude, vehicle longitude, vehicle altitude, C-V2X data packet sequence number sent by the vehicle, vehicle speed, vehicle direction angle, vehicle acceleration, vehicle length, vehicle width, vehicle height, vehicle steering wheel angle, vehicle gear position, event type of the scene encountered by the vehicle and traffic light phase.

[0042] The present invention also provides a high-reliability vehicle networking function verification method based on in-the-loop testing, using the above-mentioned high-reliability vehicle networking function verification system based on in-the-loop testing, the verification method includes a MIL test based on a MIL test subsystem, a SIL test based on a SIL test subsystem, and a HIL test based on a HIL test subsystem.

[0043] The specific steps of MIL testing include:

[0044] Write an input protocol into the input protocol module, wherein the input protocol includes basic information of the experimental vehicle and establishes socket communication. The input protocol module inputs the input protocol into the Simulink algorithm model module based on the socket communication;

[0045] The Simulink algorithm model module receives the basic information of the experimental vehicle, makes algorithm decisions and performs algorithm model operations according to different scenarios, and outputs the algorithm results;

[0046] The output protocol module receives the algorithm results through socket communication and performs statistical analysis on the algorithm results;

[0047] The specific steps of SIL testing include:

[0048] Burn the tested code into the first host computer of OBU or RSU, run the Internet of Vehicles environment simulated by the first host computer, simulate multiple opponent vehicles, and actively adapt the V2X message body ASN version of the tested device to perform C-V2X functional testing. The tested device outputs V2X information response and judgment according to the information simulated by the first host computer;

[0049] The specific steps of HIL testing include:

[0050] Connect the second host computer, V2X signal simulator, GNSS simulator and the device under test;

[0051] The second host computer sends the network layer V2X information of the slave vehicle to the V2X signal simulator, injects the CAN information of the main vehicle into the DUT, and injects the position information of the main vehicle into the GNSS simulator;

[0052] The V2X signal simulator converts the received network layer V2X information into RF signals, transmits them to the DUT, and configures the GNSS simulator;

[0053] The GNSS simulator is time-synchronized with the V2X signal simulator, receives the main vehicle position information from the second host computer, and converts the main vehicle position information into a radio frequency signal and transmits it to the device under test;

[0054] The device under test receives V2X RF signals and GNSS RF signals, and injects feedback information into the second host computer;

[0055] The second host computer detects the C-V2X scenario function of the DUT based on the feedback information of the DUT;

[0056] During the HIL test, the second host computer adapts its own ASN to the ASN version of the device under test, and simulates large-scale testing in conjunction with the V2X signal simulator.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] (1) The simulation platform and C-V2X RF entity can simulate multiple opponent vehicle scenarios and multiple opponent vehicle message RF signals, which can form a large-scale test of C-V2X functional performance.

[0059] (2) An integrated bench-level hardware and software automated test system including HIL, MIL, and SIL to ensure the comprehensiveness, authenticity, and reproducibility of the test.

[0060] (3) The present invention actively adapts the ASN version of the V2X message body of the device under test, 4. Satisfies the adaptive ASN protocol version compatibility test between the test system and the device under test.

[0061] (4) The host computer software of the present invention simulates the CAN protocol and more realistically restores the data flow of the Internet of Vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is the overall system structure diagram of the present invention;

[0063] Figure 2 It is a structural diagram of the HIL test subsystem of the present invention;

[0064] Figure 3 It is a structural diagram of the SIL test subsystem of the present invention;

[0065] Figure 4 It is a structural diagram of the MIL test subsystem of the present invention;

[0066] Figure 5 is a flow chart of the method of the present invention;

[0067] Figure 6 It is the MIL test flow chart of the present invention;

[0068] Figure 7 It is the SIL test flow chart of the present invention;

[0069] Figure 8 It is the HIL test flow chart of the present invention;

[0070] Fig. 9 The Simulink module structure diagram of the two-stage cooperative lane change scenario of the present invention;

[0071] Fig.10 This is a Simulink module structure diagram of the perception data sharing scenario of the present invention. DETAILED DESCRIPTION

[0072] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0073] Glossary:

[0074] HIL: Hardware In The Loop, hardware in the loop, uses a real-time processor to run a simulation model to simulate the operating state of the controlled object, connects to the ECU under test through the I / O interface, and conducts comprehensive and systematic testing on the ECU under test.

[0075] SIL: Software In The Loop, software in the loop, generates code from the model or writes code manually, compiles it into a PC program, and performs closed-loop testing on the PC.

[0076] MIL: Model In The Loop, model-in-the-loop, is a model-based test on a PC, and its output is a verified control algorithm model. Verify whether the control algorithm model accurately implements the functional requirements.

[0077] ECU: Electronic Control Unit.

[0078] Internet of Vehicles: A communication structure that relies on C-V2X to interconnect vehicles, vehicles and roadside equipment, vehicles and infrastructure, vehicles and networks, and vehicles and pedestrians.

[0079] OBU: On-board unit, which can be used for C-V2X communication.

[0080] RSU: Roadside unit, which can be used for C-V2X communication.

[0081] ASN: ASN.1 describes a data format for representing, encoding, transmitting and decoding data. In the present invention, ASN can be represented as a language compiler using ASN.1.

[0082] UDP: transport protocol UDP.

[0083] The present invention provides a highly reliable vehicle networking function verification system based on in-loop testing. The system structure diagram is shown in Figure 1 As shown in the figure, the system includes MIL test subsystem, SIL test subsystem and HIL test subsystem.

[0084] 1.MIL test subsystem

[0085] The MIL test subsystem includes an input protocol module, a Simulink algorithm model module, and an output protocol module that are connected in sequence. The MIL test subsystem structure diagram is shown in the figure below. Figure 4 shown.

[0086] The input protocol module is used to define the basic information of the experimental vehicle and establish socket communication. The basic information of the experimental vehicle includes vehicle ID, vehicle latitude, vehicle longitude, vehicle altitude, C-V2X data packet sequence number sent by the vehicle, vehicle speed, vehicle direction angle, vehicle acceleration, vehicle length, vehicle width, vehicle height, vehicle steering wheel angle, vehicle gear position, event type and traffic light phase of the scene encountered by the vehicle, etc. The input protocol module packages the basic information of the experimental vehicle for socket communication with the Simulink model and sends it to the UDP receiving module of the Simulink model.

[0087] The Simulink algorithm model module is used to receive basic information of the experimental vehicle, perform algorithm model operations, and output algorithm results. The structure of the Simulink algorithm model module is different in different C-V2X scenarios. Taking the two-stage cooperative lane change scenario as an example, the Simulink module structure diagram is as follows: Fig. 9 As shown:

[0088] The Simulink algorithm model modules in the second-stage cooperative lane change scenario include UDP receiving module, byte unpacking module, data type conversion module, S function module, Matlab function module, subsystem module, byte packing module, UDP sending module and display module.

[0089] UDP receiving module, used to receive UDP master and remote vehicle data in the basic information of the experimental vehicle;

[0090] Byte unpacking module, used to unpack the received data;

[0091] The data type conversion module is used to convert the received int32 and uint16 type data into the double type that can be input into the S-function module, and convert the received double type data into the int32 type that is desired to be sent;

[0092] The S function module is used to receive the main vehicle and remote vehicle data in the basic information of the experimental vehicle and determine the relative position of the two vehicles;

[0093] Matlab function module, used to determine whether the remote vehicle is in front of the host vehicle in the adjacent lane and requests to change lanes to the host vehicle's lane;

[0094] The subsystem module is used to calculate and compare the time it takes for the two vehicles to catch up, and output the recommended driving mode for the main vehicle and the remote vehicle based on the time;

[0095] Byte packing module, used to pack the data to be output;

[0096] UDP sending module, used to send the packaged data via UDP;

[0097] The display module is used to display the output results, including: no warning, accelerated passage and decelerated passage.

[0098] Taking the perception data sharing environment as an example, the Simulink module structure diagram is as follows Fig.10 As shown:

[0099] The Simulink algorithm model module in the perception data sharing environment includes UDP receiving module, byte unpacking module, data type conversion module, Matlab function module, byte packing module, UDP sending module and display module, among which,

[0100] UDP receiving module, used to receive UDP main vehicle data and remote vehicle perception data in the basic information of the experimental vehicle;

[0101] Byte unpacking module, used to unpack the received data;

[0102] The data type conversion module is used to convert the received int and uint16 type data into the double type that can be input by the Matlab function module, and convert the received double type data into the int32 type that is desired to be sent;

[0103] The Matlab function module senses the data type and whether the main vehicle intends to request data sharing, and outputs whether to share information and the type of shared data;

[0104] Byte packing module, used to pack the data to be output;

[0105] UDP sending module, used to send the packaged data via UDP;

[0106] The display module is used to display the output results, including not sending the perception information, the pedestrian in front, the vehicle in front and the road event in front.

[0107] The output protocol module is used to receive the algorithm results, send the algorithm results to the compiler console, and perform statistical analysis on the algorithm results.

[0108] 2.SIL test subsystem

[0109] The SIL test subsystem includes a first upper layer connected to the device under test. The structure diagram of the SIL test subsystem is shown in FIG. Figure 3 shown.

[0110] First, the host computer simulates the entire Internet of Vehicles environment, simulates multiple opponent vehicles, and actively adapts the ASN version of the V2X message body of the device under test. The device under test responds and judges the V2X information based on the external simulation information of the host computer. The final result can be obtained by the verification platform of the host computer.

[0111] 3.HIL test subsystem

[0112] It includes a second host computer, a V2X signal simulator and a GNSS simulator that are connected to the DUT and are interconnected. The structure of the HIL test subsystem is as follows: Figure 2 shown.

[0113] 3.1 Second host computer

[0114] The second host computer is used for:

[0115] 1) Simulate the CAN protocol, receive network layer V2X information, and send processed V2X information. The main simulation includes starting and stopping the experiment, sending and receiving V2X data packets.

[0116] The communication process between CAN and V2X signal simulator can be described as:

[0117] a) CAN transmits the path file of the GNSS simulator static work to the V2X simulator;

[0118] b) CAN sends the TxCmdStartScenario command to V2X to start the experiment, including the start time of the GNSS simulator;

[0119] c) After the V2X simulator receives the TxCmdStartScenario command from CAN, it first configures the time in TxCmdStartScenario and the preset GNSS simulator working mode to the GNSS simulator. When the configuration is completed, it feeds back the RxCmdStartScenario command to CAN, including the delay time for starting the experiment, for synchronization.

[0120] d) After the experiment starts, CAN starts to send V2X data packets to the V2X simulator. However, before each data packet is sent, the relevant parameter information of the corresponding node needs to be sent, including longitude and latitude, that is, TxCmdSettingAttr needs to be sent before each TxCmdPC5DataFrame is sent.

[0121] e) When the experiment ends, CAN first sends the TxCmdSettingScenario command to end the Scenario, and then sends the TxCmdStopScenario command for the technical experiment.

[0122] In order to simulate the above process, the simulation program is connected to the V2X simulator LAN, the IP address that can be connected to the V2X signal simulator is set, and four UDP connections are established, which are used to send scene control instructions, receive scene control feedback instructions, send V2X data packets, and receive V2X data packets.

[0123] 2) Detect the scenario function of the C-V2X device under test based on the feedback information of the device under test.

[0124] 3) Adapt according to its own ASN and the ASN version of the device under test. The second host computer can actively select the corresponding version number according to the version number of the ASN version in the device under test to enhance message compatibility. Including ASNV2017 (version used for three spans and the old four spans), ASNV2019 (version used for the new four spans), ASNV2020 (current general version, including the second phase message set).

[0125] 4) Combined V2X signal simulator to simulate large-scale testing.

[0126] The second host computer is also responsible for the virtual simulation engine, generating simulation data including HV, RV and roadside information.

[0127] Since the existing GNSS simulator does not support teleportation, after each use case is completed, the HV needs to be able to return to the use case starting point to start the next test, otherwise the instrument needs to be restarted. The present invention considers using an external simulation of the HV return process. The current simulation of the HV return process is: (1) The HV gradually decelerates from the use case end point to 0 and waits for a period of time; (2) The HV accelerates in reverse from the final end point to the use case end point; (3) The path of the previous use case is replayed until the HV returns to the use case starting point. Its working condition is: in the process of returning to the starting point, although the heading angle obtained by the OBU is not opposite to the previous one and the position shows reverse movement on the way, when approaching the starting point, the OBU can still correct to the vicinity of the starting point. When the HV stops at the starting point, the OBU will also return to the specified starting point within 10s.

[0128] 3.2V2X signal simulator

[0129] The V2X signal simulator is used to convert the received network layer V2X information into radio frequency signals, transmit them to the device under test, configure the GNSS simulator, and simulate the V2X signals of large-scale opponent vehicles.

[0130] The configuration of the GNSS simulator is specifically as follows: configuring the working mode of the GNSS simulator to be static or dynamic.

[0131] 3.3GNSS Simulator

[0132] The GNSS simulator is used to synchronize time with the V2X signal simulator, receive the main vehicle position information from the second host computer, and convert the main vehicle position information into a radio frequency signal, which is transmitted to the device under test to achieve field dynamic simulation.

[0133] By using the above-mentioned high-reliability Internet of Vehicles function verification system based on in-loop testing, a high-reliability Internet of Vehicles function verification method based on in-loop testing can be implemented. The verification method includes MIL testing based on the MIL test subsystem, SIL testing based on the SIL test subsystem, and HIL testing based on the HIL test subsystem. The overall flow chart of the method is shown in FIG. Figure 5 shown.

[0134] The flow chart of MIL test is as follows Figure 6 The specific steps of MIL testing include:

[0135] Write the input protocol to the input protocol module. The input protocol includes the basic information of the experimental vehicle and establishes socket communication. The input protocol module inputs the input protocol to the Simulink algorithm model module based on socket communication.

[0136] The Simulink algorithm model module receives the basic information of the experimental vehicle, makes algorithm decisions and performs algorithm model operations according to different scenarios, and outputs the algorithm results;

[0137] The output protocol module receives the algorithm results through socket communication and performs statistical analysis on the algorithm results.

[0138] The flow chart of SIL test is as follows Figure 7 The specific steps of SIL testing include:

[0139] The code under test is burned into the first host computer of OBU or RSU, and the Internet of Vehicles environment simulated by the first host computer is run to simulate multiple opponent vehicles, and the ASN version of the V2X message body of the device under test is actively adapted to perform C-V2X functional testing. The device under test outputs V2X information response and judgment according to the information simulated by the first host computer.

[0140] The flow chart of HIL test is as follows Figure 8 The specific steps of HIL testing include:

[0141] Connect the second host computer, V2X signal simulator, GNSS simulator and the device under test;

[0142] The second host computer sends the network layer V2X information of the slave vehicle to the V2X signal simulator, injects the CAN information of the main vehicle into the DUT, and injects the position information of the main vehicle into the GNSS simulator;

[0143] The V2X signal simulator converts the received network layer V2X information into RF signals, transmits them to the DUT, and configures the GNSS simulator;

[0144] The GNSS simulator is time-synchronized with the V2X signal simulator, receives the main vehicle position information from the second host computer, and converts the main vehicle position information into a radio frequency signal and transmits it to the device under test;

[0145] The device under test receives V2X RF signals and GNSS RF signals, and injects feedback information into the second host computer;

[0146] The second host computer detects the scenario function of the C-V2X device under test based on the feedback information of the device under test.

[0147] During the HIL test, the second host computer adapts its own ASN to the ASN version of the device under test, and simulates large-scale testing in conjunction with the V2X signal simulator.

[0148] The advantages of the present invention are as follows:

[0149] 1. It can simulate large-scale C-V2X information and realize large-scale testing of the DUT.

[0150] 2. When the GNSS simulator does not support teleportation, the automated test cases can be switched freely.

[0151] 3. The test system can actively adapt to various ASN versions of the C-V2X message body to achieve high compatibility.

[0152] 4. The system can simulate the CAN protocol and truly restore the data flow of the Internet of Vehicles.

[0153] 5. It has HIL, MIL and SIL at the same time to ensure the comprehensiveness, authenticity and reproducibility of the test.

[0154] The present invention can simulate multiple opponent vehicle scenarios and multiple opponent vehicle message RF signals in the simulation platform and C-V2X RF entity part, and can form a large-scale test of C-V2X functional performance. The present invention includes a "three-in-one" bench-level hardware and software automation test system of HIL, MIL, and SIL to ensure the comprehensiveness, authenticity, and reproducibility of the test. The software simulates the CAN protocol to more realistically restore the data flow of the Internet of Vehicles, meet the test system and the test device's adaptive ASN protocol version compatibility test, and solve the problem that the GNSS simulator does not support teleportation when switching in the loop automation test.

[0155] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A highly reliable vehicle networking function verification system based on in-the-loop testing, characterized in that: The system includes MIL test subsystem, SIL test subsystem and HIL test subsystem. Among them, the MIL test subsystem includes an input protocol module, a Simulink algorithm model module and an output protocol module which are connected in sequence; Among them, the input protocol module is used to define the basic information of the experimental vehicle and establish socket communication; the Simulink algorithm model module is used to receive the basic information of the experimental vehicle, the algorithm model operation and output the algorithm results. The structure of the Simulink algorithm model module is different in different scenarios; the output protocol module is used to receive the algorithm results and perform statistical analysis on the algorithm results; The SIL test subsystem includes a first host computer connected to the device under test, wherein the first host computer simulates the entire Internet of Vehicles environment, simulates multiple opponent vehicles, and actively adapts the ASN version of the V2X message body of the device under test; The HIL test subsystem includes a second host computer, a V2X signal simulator and a GNSS simulator connected to the DUT and to each other, wherein: The second host computer is used for: Simulate the CAN protocol, receive network layer V2X information, and send processed V2X information; Detect the C-V2X scenario function of the DUT based on the feedback information of the DUT; Adapt according to its own ASN and the ASN version of the device under test; Joint V2X signal simulator simulates large-scale testing; The V2X signal simulator is used to convert the received network layer V2X information into radio frequency signals, transmit them to the DUT, configure the GNSS simulator, and simulate the V2X signals of large-scale opponent vehicles; The GNSS simulator is used to synchronize time with the V2X signal simulator, receive the main vehicle position information from the second host computer, and convert the main vehicle position information into a radio frequency signal and transmit it to the device under test.

2. A highly reliable vehicle networking function verification system based on in-the-loop testing according to claim 1, characterized in that: The Simulink algorithm model modules in the second-stage cooperative lane change scenario include UDP receiving module, byte unpacking module, data type conversion module, S function module, Matlab function module, subsystem module, byte packing module, UDP sending module and display module. UDP receiving module, used to receive UDP master and remote vehicle data in the basic information of the experimental vehicle; Byte unpacking module, used to unpack the received data; The data type conversion module is used to convert the received int32 and uint16 type data into the double type that can be input into the S-function module, and convert the received double type data into the int32 type that is desired to be sent; The S function module is used to receive the main vehicle and remote vehicle data in the basic information of the experimental vehicle and determine the relative position of the two vehicles; Matlab function module, used to determine whether the remote vehicle is in front of the host vehicle in the adjacent lane and requests to change lanes to the host vehicle's lane; The subsystem module is used to calculate and compare the time it takes for the two vehicles to catch up, and output the recommended driving mode for the main vehicle and the remote vehicle based on the time; Byte packing module, used to pack the data to be output; UDP sending module, used to send the packaged data via UDP; Display module, used to display output results.

3. A highly reliable vehicle networking function verification system based on in-the-loop testing according to claim 2, characterized in that: The output results include: no warning, accelerated passage and decelerated passage.

4. A highly reliable vehicle networking function verification system based on in-the-loop testing according to claim 1, characterized in that: The Simulink algorithm model module in the perception data sharing environment includes UDP receiving module, byte unpacking module, data type conversion module, Matlab function module, byte packing module, UDP sending module and display module, among which, UDP receiving module, used to receive UDP main vehicle data and remote vehicle perception data in the basic information of the experimental vehicle; Byte unpacking module, used to unpack the received data; The data type conversion module is used to convert the received int and uint16 type data into the double type that can be input by the Matlab function module, and convert the received double type data into the int32 type that is desired to be sent; The Matlab function module senses the data type and whether the main vehicle intends to request data sharing, and outputs whether to share information and the type of shared data; Byte packing module, used to pack the data to be output; UDP sending module, used to send the packaged data via UDP; Display module, used to display output results.

5. A highly reliable vehicle networking function verification system based on in-the-loop testing according to claim 4, characterized in that: The output results include: not sending perception information, pedestrians ahead, vehicles ahead, and road events ahead.

6. A highly reliable vehicle networking function verification system based on in-the-loop testing according to claim 1, characterized in that: In the HIL test subsystem, in order to realize the simulation of CAN protocol by the second host computer, the simulation program is connected to the V2X simulator LAN, the IP address that can be connected to the V2X signal simulator is set, and 4 UDP connections are established, which are used to send scene control instructions, receive scene control feedback instructions, send V2X data packets, and receive V2X data packets.

7. A highly reliable vehicle networking function verification system based on in-the-loop testing according to claim 1, characterized in that: The configuration of the GNSS simulator specifically includes: configuring the working mode of the GNSS simulator to be static or dynamic.

8. The highly reliable vehicle networking function verification system based on in-the-loop testing according to claim 1 is characterized in that: The output protocol module receives the algorithm result and sends the algorithm result to the compiler console.

9. A highly reliable vehicle networking function verification system based on in-the-loop testing according to claim 1, characterized in that: The basic information of the experimental vehicle includes vehicle ID, vehicle latitude, vehicle longitude, vehicle altitude, C-V2X data packet sequence number sent by the vehicle, vehicle speed, vehicle direction angle, vehicle acceleration, vehicle length, vehicle width, vehicle height, vehicle steering wheel angle, vehicle gear position, event type encountered by the vehicle and traffic light phase.

10. A highly reliable vehicle networking function verification method based on in-the-loop testing, characterized in that: A highly reliable Internet of Vehicles function verification system based on in-the-loop testing as described in any one of claims 1 to 9 is used, wherein the verification method includes a MIL test based on a MIL test subsystem, a SIL test based on a SIL test subsystem, and a HIL test based on a HIL test subsystem. The specific steps of MIL testing include: Write an input protocol into the input protocol module, wherein the input protocol includes basic information of the experimental vehicle and establishes socket communication. The input protocol module inputs the input protocol into the Simulink algorithm model module based on the socket communication; The Simulink algorithm model module receives the basic information of the experimental vehicle, makes algorithm decisions and performs algorithm model operations according to different scenarios, and outputs the algorithm results; The output protocol module receives the algorithm results through socket communication and performs statistical analysis on the algorithm results; The specific steps of SIL testing include: Burn the tested code into the first host computer of OBU or RSU, run the Internet of Vehicles environment simulated by the first host computer, simulate multiple opponent vehicles, and actively adapt the V2X message body ASN version of the tested device to perform C-V2X functional testing. The tested device outputs V2X information response and judgment according to the information simulated by the first host computer; The specific steps of HIL testing include: Connect the second host computer, V2X signal simulator, GNSS simulator and the device under test; The second host computer sends the network layer V2X information of the slave vehicle to the V2X signal simulator, injects the CAN information of the main vehicle into the DUT, and injects the position information of the main vehicle into the GNSS simulator; The V2X signal simulator converts the received network layer V2X information into RF signals, transmits them to the DUT, and configures the GNSS simulator; The GNSS simulator is time-synchronized with the V2X signal simulator, receives the main vehicle position information from the second host computer, and converts the main vehicle position information into a radio frequency signal and transmits it to the device under test; The device under test receives V2X RF signals and GNSS RF signals, and injects feedback information into the second host computer; The second host computer detects the C-V2X scenario function of the DUT based on the feedback information of the DUT; During the HIL test, the second host computer adapts its own ASN to the ASN version of the device under test, and simulates large-scale testing in conjunction with the V2X signal simulator.

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