Method, device, electronic equipment and storage medium for checking vehicle control interface

Abstract

The application provides a vehicle control interface inspection method and device, electronic equipment and a storage medium; applied to an automatic driving vehicle, the automatic driving vehicle comprises an automatic driving system, the automatic driving system comprises at least one sub-control system, each sub-control system corresponds to a control interface, and the method comprises the following steps: at least one control request of each sub-control system is sent to an automatic driving vehicle to be inspected, and a response result corresponding to each control request is received, each control request comprises a target control result, and the response result is used for indicating the result of the sub-control system responding to the control request and controlling through the corresponding control interface; according to the target control result in each control request and the corresponding response result, the control error corresponding to each control request is calculated, and the target control error corresponding to each control request is obtained; whether all control interfaces are normal is determined according to the target control errors corresponding to all control requests.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, electronic device, and storage medium for inspecting a vehicle control interface. Background Technology

[0002] When autonomous vehicles malfunction or require factory / offline testing, checking the vehicle control interface is a crucial step. The ability of the vehicle control interface to respond correctly to different control parameters is directly related to the driving safety of autonomous vehicles.

[0003] Existing control interface inspection technologies require manually sending commands to trigger the control interface for each autonomous vehicle, then obtaining the vehicle's feedback and manually analyzing the results. This approach demands significant manual intervention, has low automation, and is difficult to implement for rapid inspection and mass production / production. Therefore, existing technologies suffer from low inspection efficiency. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, apparatus, electronic device and storage medium for inspecting vehicle control interfaces, so as to improve the efficiency of vehicle control interface inspection.

[0005] In a first aspect, embodiments of the present invention provide a method for inspecting vehicle control interfaces, applied to an autonomous vehicle. The autonomous vehicle includes an autonomous driving system, which includes at least one sub-control system, each sub-control system corresponding to a control interface. The method includes: sending at least one control request from each sub-control system to the autonomous vehicle to be inspected, and receiving a response result corresponding to each control request. Each control request includes a target control result, and the response result is used to indicate the result of the sub-control system responding to the control request and controlling the vehicle through the corresponding control interface; calculating a control error corresponding to each control request based on the target control result in each control request and the corresponding response result, thereby obtaining a target control error corresponding to each control request; and determining whether all control interfaces are functioning correctly based on the target control errors corresponding to all control requests.

[0006] Optionally, the aforementioned autonomous vehicle further includes a vehicle control interface inspection unit. The step of sending at least one control request for each sub-control system to the autonomous vehicle to be inspected and receiving the response result corresponding to each control request includes: creating at least one information sending thread and at least one information receiving thread through the vehicle control interface inspection unit; sending at least one control request for each sub-control system to the autonomous vehicle to be inspected through the at least one information sending thread; and receiving the response result corresponding to each control request through the at least one information receiving thread.

[0007] Optionally, the aforementioned autonomous vehicle further includes a vehicle control interface inspection unit. The step of sending at least one control request from each sub-control system to the autonomous vehicle under inspection and receiving a response result corresponding to each control request includes: generating at least one control request parameter corresponding to each sub-control system through the vehicle control interface inspection unit, the control request parameter indicating a target control result; sending at least one control request from each sub-control system to the autonomous vehicle under inspection through the vehicle control interface inspection unit, each control request from each sub-control system containing one control request parameter, the control request parameter corresponding to each control request; each sub-control system of the autonomous vehicle responding to each corresponding control request and controlling the target control result through the control interface corresponding to each sub-control system to obtain a response result corresponding to each control request; and receiving the response result corresponding to each control request through the vehicle control interface inspection unit.

[0008] Optionally, the vehicle control interface inspection unit is connected to the autonomous vehicle to be inspected via a controller local area network (CLAN), and the data from the CLAN is transmitted through a CLAN data conversion device.

[0009] Optionally, the aforementioned sub-control system is used to indicate the chassis control subsystem. The at least one sub-control system includes at least one of a braking response system, a steering angle control system, a gear response system, a body accessory control system, and a drive response system. The control interface is used to indicate the chassis control interface. Sending at least one control request for each sub-control system to the autonomous vehicle to be inspected and receiving the response result corresponding to each control request includes: sending at least one control request corresponding to each of the braking response system, the steering angle control system, the gear response system, the body accessory control system, and the drive response system to the autonomous vehicle to be inspected, and receiving the response result corresponding to each control request.

[0010] Optionally, determining whether all control interfaces are normal based on the target control error corresponding to all control requests includes: determining whether the target control error corresponding to each control request meets the corresponding preset normal conditions; if the target control errors corresponding to all control requests meet the corresponding preset normal conditions, then all control interfaces are determined to be normal; if the target control error corresponding to any control request does not meet the corresponding preset normal conditions, then the corresponding control interface is determined to be abnormal.

[0011] Optionally, the above-mentioned sending at least one control request of each sub-control system to the autonomous vehicle to be inspected and receiving the response result corresponding to each control request includes: sending at least one control request of each sub-control system to the autonomous vehicle to be inspected, and receiving the response result within the preset waiting response time corresponding to each control request according to the preset waiting response time corresponding to each sub-control system.

[0012] Optionally, after determining whether all control interfaces are normal based on the target control error corresponding to all control requests, the method further includes: outputting a check result, the check result being used to indicate whether each control interface is normal.

[0013] Optionally, after determining whether all control interfaces are normal based on the target control error corresponding to all control requests, the method further includes: if all control interfaces are normal, then determining that the autonomous vehicle meets the decommissioning conditions; if any control interface is abnormal, then determining that the autonomous vehicle does not meet the decommissioning conditions.

[0014] Secondly, embodiments of the present invention provide a vehicle control interface inspection device applied to an autonomous vehicle. The autonomous vehicle includes an autonomous driving system, which includes at least one sub-control system, each sub-control system corresponding to a control interface. The device includes: a response module, configured to send at least one control request from each sub-control system to the autonomous vehicle to be inspected, and receive a response result corresponding to each control request. Each control request includes a target control result, and the response result is used to instruct the sub-control system to respond to the control request and perform control through the corresponding control interface; a calculation module, configured to calculate the control error corresponding to each control request based on the target control result in each control request and the corresponding response result, thereby obtaining the target control error corresponding to each control request; and a determination module, configured to determine whether all control interfaces are normal based on the target control errors corresponding to all control requests.

[0015] Optionally, the aforementioned autonomous vehicle further includes a vehicle control interface inspection unit. The aforementioned response module is further configured to: create at least one information sending thread and at least one information receiving thread through the vehicle control interface inspection unit; send at least one control request of each sub-control system to the autonomous vehicle to be inspected through the at least one information sending thread; and simultaneously receive the response result corresponding to each control request through the at least one information receiving thread.

[0016] Optionally, the aforementioned autonomous vehicle further includes a vehicle control interface inspection unit. The aforementioned response module is further configured to: generate at least one control request parameter corresponding to each sub-control system through the vehicle control interface inspection unit, wherein the control request parameter is used to indicate the target control result; send at least one control request of each sub-control system to the autonomous vehicle to be inspected through the vehicle control interface inspection unit, wherein each control request of each sub-control system includes one of the control request parameters, and the control request parameter corresponds one-to-one with the control request; each sub-control system of the autonomous vehicle responds to each corresponding control request and controls the target control result through the control interface corresponding to each sub-control system to obtain a response result corresponding to each control request; and receive the response result corresponding to each control request through the vehicle control interface inspection unit.

[0017] Optionally, the vehicle control interface inspection unit is connected to the autonomous vehicle to be inspected via a controller local area network (CLAN), and the data from the CLAN is transmitted through a CLAN data conversion device.

[0018] Optionally, the aforementioned sub-control system is used to indicate the chassis control subsystem, wherein the at least one sub-control system includes at least one of a braking response system, a steering angle control system, a gear response system, a body accessory control system, and a drive response system, and the control interface is used to indicate the chassis control interface; the aforementioned response module is further used to: send at least one control request corresponding to the braking response system, the steering angle control system, the gear response system, the body accessory control system, and the drive response system to the autonomous vehicle to be inspected, and receive the response result corresponding to each control request.

[0019] Optionally, the aforementioned determining module is further configured to: determine whether the target control error corresponding to each control request meets the corresponding preset normal conditions; if the target control errors corresponding to all control requests meet the corresponding preset normal conditions, then determine that all control interfaces are normal; if the target control error corresponding to any control request does not meet the corresponding preset normal conditions, then determine that the corresponding control interface is abnormal.

[0020] Optionally, the above-mentioned response module is further configured to: send at least one control request of each sub-control system to the autonomous vehicle to be inspected, and receive the response result within the preset waiting response time corresponding to each control request according to the preset waiting response time corresponding to each sub-control system.

[0021] Optionally, the above device further includes: an output module for outputting inspection results, the inspection results being used to indicate whether each of the control interfaces is normal.

[0022] Optionally, the above device further includes: a decommissioning module, used to determine that the autonomous vehicle meets the decommissioning conditions if all the control interfaces are normal; and to determine that the autonomous vehicle does not meet the decommissioning conditions if any of the control interfaces is abnormal.

[0023] Thirdly, embodiments of the present invention provide an electronic device, including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the above-described vehicle control interface inspection method.

[0024] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to implement the above-described vehicle control interface inspection method.

[0025] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a flowchart of one embodiment of the vehicle control interface inspection method in this invention;

[0029] Figure 2This is a flowchart of another embodiment of the vehicle control interface inspection method in this invention;

[0030] Figure 3 A schematic diagram of a vehicle control interface inspection device provided in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] For ease of understanding, the specific process of this invention embodiment is described below. The vehicle control interface inspection method in this invention embodiment is applied to an autonomous vehicle. The autonomous vehicle includes an autonomous driving system, which includes at least one sub-control system, each sub-control system corresponding to one control interface. It is understood that the autonomous driving system of an autonomous vehicle consists of at least one sub-control system, such as a braking control system, a steering angle control system, a gear control system, a body accessory control system, and a drive control system, etc. Each sub-control system corresponds to one or more control interfaces; specific details are not limited here.

[0035] Please see Figure 1 One embodiment of the vehicle control interface inspection method in this invention includes:

[0036] Step S10: Send at least one control request from each sub-control system to the autonomous vehicle to be inspected, and receive the response result corresponding to each control request. Each control request includes a target control result. The response result is used to instruct the sub-control system to respond to the control request and control the result through the corresponding control interface.

[0037] It should be noted that, in order to comprehensively check whether all sub-control systems of an autonomous vehicle can be normally controlled by the control interface, at least one control request corresponding to each of the sub-control systems is sent to the autonomous vehicle under inspection, and the response results for each control request are received from the autonomous vehicle under inspection. Each control request includes a target control result. For example, for the autonomous vehicle A under inspection, assuming that the autonomous vehicle contains sub-control systems A1, A2, and A3, at least one control request corresponding to each of these three sub-control systems is sent to the autonomous vehicle A, thereby sending at least one target control result corresponding to each sub-control system to the autonomous vehicle A, in order to check whether each sub-control system of the autonomous vehicle A can be normally controlled by the control interface. The target control result included in each control request is different. Control requests for the same control system include target control results with the same attribute but different values. For example, control requests for the braking control system can include different values ​​of vehicle speed attributes, such as 10% vehicle speed, 20% vehicle speed, and so on. All control requests for the braking control system can cover the entire vehicle speed range, that is, [0%, 100%]. Specific attributes and values ​​are not limited here.

[0038] It is understandable that after receiving a control request, the autonomous vehicle under inspection responds to the control request and performs control through the corresponding control interface, obtaining the response result of the autonomous vehicle to the control request. The response result then determines whether the control interface is functioning correctly and whether the autonomous vehicle is achieving the target control result, thus confirming the normal operation of the control interface. Therefore, in this embodiment, the response result is used to indicate the result obtained after the sub-control system responds to the control request and performs control through the corresponding control interface. For example, in the previous example, if the target control result of one of the control requests from the braking control system is a vehicle speed of 10%, then the response result is the result of the braking control system responding to the control request and controlling the vehicle speed through the corresponding vehicle speed control interface. Specific details are not limited here.

[0039] In one implementation, step S10 includes: creating at least one information sending thread and at least one information receiving thread through the vehicle control interface inspection unit; sending at least one control request from each sub-control system to the autonomous vehicle to be inspected through the at least one information sending thread; and simultaneously receiving the response result corresponding to each control request through the at least one information receiving thread. To make the vehicle control interface inspection faster and more independent, a main thread and multiple sub-threads are created through an independent vehicle control interface inspection unit. The multiple sub-threads include at least one information sending thread and at least one information receiving thread. Through the information sending and receiving threads, the vehicle control interface inspection unit can send information to each sub-control system while simultaneously receiving response results from the sub-control systems, thereby improving the inspection efficiency of the control interface.

[0040] In one embodiment, a sub-control system is used to indicate a chassis control subsystem. At least one sub-control system includes at least one of a braking response system, a steering angle control system, a gear position response system, a body accessory control system, and a drive response system. A control interface is used to indicate a chassis control interface. Step S10 includes: sending at least one control request corresponding to each of the braking response system, steering angle control system, gear position response system, body accessory control system, and drive response system to the autonomous vehicle to be inspected, and receiving a response result corresponding to each control request. It is understood that the control interface inspection may only target the chassis control interface, and the sub-control system may only target the chassis control subsystem, including at least one of the braking response system, steering angle control system, gear position response system, body accessory control system, and drive response system. For comprehensive inspection, at least one control request is sent to all chassis control subsystems, and a response result corresponding to each control request is received.

[0041] In one embodiment, step S10 includes: sending at least one control request from each sub-control system to the autonomous vehicle to be inspected, and receiving the response result within the preset waiting response time corresponding to each control request, based on the preset waiting response time corresponding to each sub-control system. In this embodiment, since the inspection of the control interface differs from the direct control of the autonomous driving system, the response time of the sub-control system is allowed to be longer than the direct control time of the autonomous driving system during the control interface inspection. Therefore, when sending each control request to each sub-control system, receiving the response result within the preset response time is sufficient. For example, the preset waiting time corresponding to the braking response system can be 500ms, the preset waiting time corresponding to the steering angle control system can be 500ms, the preset waiting time corresponding to the gear response system can be 2s, the preset waiting time corresponding to the electronic parking brake system can be 1.5s, and the preset waiting time corresponding to the body accessory control system can be 2s; specific details are not limited here.

[0042] Step S20: Calculate the control error corresponding to each control request based on the target control result and the corresponding response result in each control request, and obtain the target control error corresponding to each control request.

[0043] In this embodiment, based on the target control result and the corresponding response result in each control request, the deviation between the target control result and the response result for each control request is calculated to obtain the target control error for each control request. For example, in the previous example, the target control result of one of the control requests of the braking control system is a vehicle speed of 10%. If the vehicle speed in the response result is 8%, then the target control error for this control request is 2%, and the specific error is not limited here.

[0044] In one implementation, the target control error for each control request can be obtained by directly calculating the difference between the target control result and the corresponding response result. In another implementation, the target control error for each control request is obtained by comparing the target control result with the corresponding response result. For example, if the target control result of one control request in a gear control system is gear N, then the gear data in the response result is compared with the target control result to determine if they are the same, thus obtaining the target control error. The specific method is not limited here. It should be noted that the calculation method for the control error corresponding to different control requests in different sub-control systems can be different, while the calculation method for the control error corresponding to different control requests in the same sub-control system is the same. The specific method is not limited here.

[0045] Step S30: Determine whether all control interfaces are normal based on the target control error corresponding to all control requests.

[0046] Understandably, if the target control error is within a reasonable range, the control interface can be considered normal. In one implementation, the normality of the control interface corresponding to each control request is determined by judging whether the target control error corresponding to each control request is within a preset error range. If it is within the preset error range, the control interface corresponding to the control request is considered normal; otherwise, it is considered abnormal. It should be noted that the preset error ranges for different control requests from different sub-control systems can be different, and the preset error ranges for different control requests from the same sub-control system can also be different; this is not specifically limited here.

[0047] The vehicle control interface inspection method provided in the above embodiments quickly detects the vehicle control interface by sending control requests from different sub-control systems to the autonomous vehicle, receiving the response results after control through the control interface, and calculating errors to determine whether each control interface is normal.

[0048] Please see Figure 2 Another embodiment of the vehicle control interface inspection method in this invention includes:

[0049] Step S201: Generate at least one control request parameter corresponding to each sub-control system through the vehicle control interface inspection unit. The control request parameter is used to indicate the target control result.

[0050] It should be noted that the vehicle control interface inspection unit and the autonomous vehicle under inspection can communicate via Controller Area Network (CAN), the FlexRay in-vehicle network standard, Local Interconnect Network (LIN), Ethernet, etc. In one implementation, the vehicle control interface inspection unit and the autonomous vehicle under inspection are connected via CAN, and the data from the CAN is transmitted through a CAN data conversion device. The CAN data conversion device can transmit CAN network messages to a terminal or server. For example, a PCAN device, also called a PCAN-USB device or CAN card, is a CAN-to-USB interface that can transmit CAN network messages to a PC via a USB interface, thereby obtaining the CAN messages.

[0051] Step S202: Send at least one control request of each sub-control system to the autonomous vehicle to be inspected through the vehicle control interface inspection unit. Each control request of each sub-control system contains a control request parameter, and the control request parameter corresponds one-to-one with the control request.

[0052] Step S203: Each sub-control system of the autonomous vehicle responds to each corresponding control request and controls the target control result through the control interface corresponding to each sub-control system to obtain the response result corresponding to each control request.

[0053] In this step, after each sub-control system of the autonomous vehicle responds to each control request, it controls the autonomous vehicle to achieve the target control result through the control interface and sends the response result back to the vehicle control interface inspection unit for subsequent error calculation.

[0054] Step S204: Receive the response result corresponding to each control request through the vehicle control interface inspection unit. Each control request includes the target control result. The response result is used to instruct the sub-control system to respond to the control request and control the result through the corresponding control interface.

[0055] In this step, the vehicle control interface inspection unit receives the response results for each control request, which are used for subsequent error calculation. Using a separate vehicle control interface inspection unit reduces the coupling between the inspection procedure and the autonomous driving system, thus avoiding any impact on the performance of the autonomous driving system.

[0056] Step S205: Based on the target control result and the corresponding response result in each control request, calculate the control error corresponding to each control request to obtain the target control error corresponding to each control request;

[0057] The execution process of step S205 is similar to that of step S20, and will not be described in detail here.

[0058] Step S206: Determine whether all control interfaces are normal based on the target control error corresponding to all control requests.

[0059] In one implementation, step S206 includes: determining whether the target control error corresponding to each control request meets the corresponding preset normal conditions; if the target control errors corresponding to all control requests meet the corresponding preset normal conditions, then all control interfaces are determined to be normal; if the target control error corresponding to any control request does not meet the corresponding preset normal conditions, then the corresponding control interface is determined to be abnormal. In this implementation, whether the target control error corresponding to different control requests meets the corresponding preset normal conditions is one way to determine whether the control interface is normal. Different control requests can correspond to different preset normal conditions, which are not specifically limited here. It should be noted that if, during the inspection process, the target control error corresponding to any control request does not meet the corresponding preset normal conditions, then the corresponding control interface is determined to be abnormal. For example, assuming that the various control requests of the braking control system are used to control different vehicle speeds, then if there is a control request whose target control error does not meet the preset normal conditions, such as the vehicle speed not decreasing to the normal range, then the control interface of the braking control system is determined to be abnormal.

[0060] In one implementation, after step S206, the method further includes: outputting a check result, which indicates whether each control interface is functioning correctly. By outputting the check result, the status of each control interface can be viewed intuitively on the terminal, thereby improving debugging efficiency.

[0061] In one implementation, after step S206, the method further includes: if all control interfaces are normal, then the autonomous vehicle is determined to meet the decommissioning conditions; if any control interface is abnormal, then the autonomous vehicle is determined not to meet the decommissioning conditions. It should be noted that this implementation can also be used for decommissioning checks of autonomous vehicles. If all control interfaces are normal, the autonomous vehicle meets the decommissioning conditions; otherwise, it does not, thus improving the decommissioning efficiency of autonomous vehicles.

[0062] The vehicle control interface inspection method provided in the above embodiments quickly detects the vehicle control interface by sending control requests from different sub-control systems to the autonomous vehicle, receiving the response results after control through the control interface, and calculating errors to determine whether each control interface is normal.

[0063] For the corresponding method embodiments described above, see [link to relevant documentation]. Figure 3 The diagram illustrates a vehicle control interface inspection device applied to an autonomous vehicle. The autonomous vehicle includes an autonomous driving system, which includes at least one sub-control system. Each sub-control system corresponds to a control interface. The device includes: a response module 301, used to send at least one control request from each sub-control system to the autonomous vehicle to be inspected, and receive a response result corresponding to each control request. Each control request includes a target control result, and the response result is used to instruct the sub-control system to respond to the control request and perform control through the corresponding control interface; a calculation module 302, used to calculate the control error corresponding to each control request based on the target control result in each control request and the corresponding response result, to obtain the target control error corresponding to each control request; and a determination module 303, used to determine whether all control interfaces are normal based on the target control errors corresponding to all control requests.

[0064] Optionally, the aforementioned autonomous vehicle further includes a vehicle control interface inspection unit. The aforementioned response module is further configured to: create at least one information sending thread and at least one information receiving thread through the vehicle control interface inspection unit; send at least one control request of each sub-control system to the autonomous vehicle to be inspected through the at least one information sending thread; and simultaneously receive the response result corresponding to each control request through the at least one information receiving thread.

[0065] Optionally, the aforementioned autonomous vehicle further includes a vehicle control interface inspection unit. The aforementioned response module is further configured to: generate at least one control request parameter corresponding to each sub-control system through the vehicle control interface inspection unit, wherein the control request parameter is used to indicate the target control result; send at least one control request of each sub-control system to the autonomous vehicle to be inspected through the vehicle control interface inspection unit, wherein each control request of each sub-control system includes one of the control request parameters, and the control request parameter corresponds one-to-one with the control request; each sub-control system of the autonomous vehicle responds to each corresponding control request and controls the target control result through the control interface corresponding to each sub-control system to obtain a response result corresponding to each control request; and receive the response result corresponding to each control request through the vehicle control interface inspection unit.

[0066] Optionally, the vehicle control interface inspection unit is connected to the autonomous vehicle to be inspected via a controller local area network (CLAN), and the data from the CLAN is transmitted through a CLAN data conversion device.

[0067] Optionally, the aforementioned sub-control system is used to indicate the chassis control subsystem, wherein the at least one sub-control system includes at least one of a braking response system, a steering angle control system, a gear response system, a body accessory control system, and a drive response system, and the control interface is used to indicate the chassis control interface; the aforementioned response module is further used to: send at least one control request corresponding to the braking response system, the steering angle control system, the gear response system, the body accessory control system, and the drive response system to the autonomous vehicle to be inspected, and receive the response result corresponding to each control request.

[0068] Optionally, the aforementioned determining module is further configured to: determine whether the target control error corresponding to each control request meets the corresponding preset normal conditions; if the target control errors corresponding to all control requests meet the corresponding preset normal conditions, then determine that all control interfaces are normal; if the target control error corresponding to any control request does not meet the corresponding preset normal conditions, then determine that the corresponding control interface is abnormal.

[0069] Optionally, the above-mentioned response module is further configured to: send at least one control request of each sub-control system to the autonomous vehicle to be inspected, and receive the response result within the preset waiting response time corresponding to each control request according to the preset waiting response time corresponding to each sub-control system.

[0070] Optionally, the above device further includes: an output module for outputting inspection results, the inspection results being used to indicate whether each of the control interfaces is normal.

[0071] Optionally, the above device further includes: a decommissioning module, used to determine that the autonomous vehicle meets the decommissioning conditions if all the control interfaces are normal; and to determine that the autonomous vehicle does not meet the decommissioning conditions if any of the control interfaces is abnormal.

[0072] The aforementioned vehicle control interface inspection device quickly detects the vehicle control interface by sending control requests from different sub-control systems to the autonomous vehicle and receiving the response results after the vehicle has controlled the vehicle through the control interface. It then calculates the error to determine whether each control interface is functioning correctly.

[0073] This embodiment also provides an electronic device, including a processor and a memory. The memory stores machine-executable instructions that can be executed by the processor. The processor executes the machine-executable instructions to implement the above-described vehicle control interface inspection method. This electronic device can be a server or a terminal device.

[0074] See Figure 4 As shown, the electronic device includes a processor 100 and a memory 101. The memory 101 stores machine-executable instructions that can be executed by the processor 100. The processor 100 executes the machine-executable instructions to implement the above-described vehicle control interface inspection method.

[0075] Furthermore, Figure 4 The electronic device shown also includes a bus 102 and a communication interface 103, with the processor 100, the communication interface 103 and the memory 101 connected via the bus 102.

[0076] The memory 101 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 103 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network. The bus 102 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0077] Processor 100 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 100 or by instructions in software form. Processor 100 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 101, and the processor 100 reads the information from memory 101 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0078] This embodiment also provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the above-described vehicle control interface inspection method.

[0079] The vehicle control interface inspection method, apparatus, electronic device, and storage medium computer program product provided in the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0081] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0082] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0084] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for inspecting a vehicle control interface, characterized in that, Applied to autonomous vehicles, the autonomous vehicles include an autonomous driving system, the autonomous driving system includes at least one sub-control system, each sub-control system corresponding to a control interface, the sub-control system being used to instruct a chassis control subsystem, the control interface being used to instruct a chassis control interface, the method comprising: Send at least one control request for each sub-control system to the autonomous vehicle to be inspected, and receive a response result corresponding to each control request. Each control request includes a target control result. The response result is used to instruct the sub-control system to respond to the control request and control the vehicle through the corresponding control interface. The target control result refers to the result to be achieved by controlling the autonomous vehicle through the control interface. Based on the target control result and the corresponding response result in each control request, calculate the control error corresponding to each control request to obtain the target control error corresponding to each control request; Determine whether all control interfaces are functioning correctly based on the target control error corresponding to all control requests; After determining whether all control interfaces are functioning correctly based on the target control error corresponding to all control requests, the method further includes: If all the control interfaces are normal, then the autonomous vehicle is determined to meet the conditions for being taken off the production line. If any of the control interfaces malfunctions, the autonomous vehicle is determined to be ineligible for decommissioning.

2. The method according to claim 1, characterized in that, The autonomous vehicle further includes a vehicle control interface inspection unit, which sends at least one control request for each sub-control system to the autonomous vehicle to be inspected and receives a response result corresponding to each control request, including: The vehicle control interface inspection unit creates at least one information sending thread and at least one information receiving thread. The at least one information sending thread sends at least one control request for each sub-control system to the autonomous vehicle to be inspected, and the at least one information receiving thread receives the response result corresponding to each control request.

3. The method according to claim 1, characterized in that, The autonomous vehicle further includes a vehicle control interface inspection unit, which sends at least one control request for each sub-control system to the autonomous vehicle to be inspected and receives a response result corresponding to each control request, including: The vehicle control interface inspection unit generates at least one control request parameter corresponding to each sub-control system, and the control request parameter is used to indicate the target control result. The vehicle control interface inspection unit sends at least one control request for each sub-control system to the autonomous vehicle to be inspected. Each control request for each sub-control system contains a control request parameter, and the control request parameter corresponds one-to-one with the control request. Each sub-control system of the autonomous vehicle responds to each corresponding control request and controls the target control result through the control interface corresponding to each sub-control system to obtain the response result corresponding to each control request. The vehicle control interface inspection unit receives the response result corresponding to each control request.

4. The method according to claim 3, characterized in that, The vehicle control interface inspection unit is connected to the autonomous vehicle to be inspected via a controller local area network (CLAN), and the data from the CLAN is transmitted through a CLAN data conversion device.

5. The method according to claim 1, characterized in that, The sub-control system is used to indicate the chassis control subsystem, and the at least one sub-control system includes at least one of a braking response system, a steering angle control system, a gear response system, a body accessory control system, and a drive response system, and the control interface is used to indicate the chassis control interface. The process of sending at least one control request for each sub-control system to the autonomous vehicle to be inspected, and receiving a response result corresponding to each control request, includes: Send at least one control request corresponding to each of the braking response system, steering angle control system, gear response system, body accessory control system and drive response system to the autonomous vehicle to be inspected, and receive the response result corresponding to each control request.

6. The method according to claim 1, characterized in that, The step of determining whether all control interfaces are normal based on the target control error corresponding to all control requests includes: Determine whether the target control error corresponding to each control request meets the corresponding preset normal conditions; If the target control error corresponding to all the control requests meets the corresponding preset normal conditions, then all the control interfaces are determined to be normal. If the target control error corresponding to any control request does not meet the corresponding preset normal conditions, then the corresponding control interface is determined to be abnormal.

7. The method according to claim 1, characterized in that, The process of sending at least one control request for each sub-control system to the autonomous vehicle to be inspected, and receiving a response result corresponding to each control request, includes: Send at least one control request from each sub-control system to the autonomous vehicle to be inspected, and receive the response result within the preset waiting response time corresponding to each control request according to the preset waiting response time corresponding to each sub-control system.

8. The method according to claim 1, characterized in that, After determining whether all control interfaces are functioning correctly based on the target control error corresponding to all control requests, the method further includes: Output the inspection results, which are used to indicate whether each of the control interfaces is functioning correctly.

9. A device for inspecting a vehicle control interface, characterized in that, An application for autonomous vehicles, wherein the autonomous vehicle includes an autonomous driving system, the autonomous driving system includes at least one sub-control system, each sub-control system corresponding to a control interface, the sub-control system being used to instruct a chassis control subsystem, the control interface being used to instruct a chassis control interface, the device comprising: The response module is used to send at least one control request from each sub-control system to the autonomous vehicle to be inspected, and to receive a response result corresponding to each control request. Each control request includes a target control result. The response result is used to instruct the sub-control system to respond to the control request and control the vehicle through the corresponding control interface. The target control result refers to the result that the autonomous vehicle is to achieve by controlling the vehicle through the control interface. The calculation module is used to calculate the control error corresponding to each control request based on the target control result and the corresponding response result in each control request, and obtain the target control error corresponding to each control request; The determination module is used to determine whether all the control interfaces are normal based on the target control error corresponding to all the control requests; The above-mentioned device also includes: The offline module is used to determine that the autonomous vehicle meets the offline conditions if all the control interfaces are normal, and to determine that the autonomous vehicle does not meet the offline conditions if any of the control interfaces is abnormal.

10. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the vehicle control interface inspection method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the vehicle control interface inspection method according to any one of claims 1-8.

Images