Automated vehicle communication testing method, system, and electronic device

Abstract

The application discloses an automatic vehicle communication test method, system and electronic equipment. The automatic vehicle communication test method is applied to an automatic vehicle communication test system, and the automatic vehicle communication test system comprises a test unit, a vehicle and a test environment simulation unit which are connected in communication with each other. The method comprises the following steps: the test unit acquires test environment simulation information, and controls the test environment simulation unit to simulate a test environment; the vehicle is controlled to run in the test environment; test data is sent to a target communication device in the vehicle, a first test result is generated, and a second test result is generated; in the case that the first test result and the second test result are both passed, an environment test parameter which is not executed is returned to be executed until each environment test parameter test is completed. According to the embodiment of the application, the reliability of the test result can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle testing, and particularly relates to an automated vehicle communication testing method, system and electronic device. BACKGROUND

[0002] With the development of automatic driving technology, more and more vehicles begin to be equipped with automatic driving functions. Since the safety and reliability of the automatic driving function is the primary problem to ensure driving safety, the automatic driving function of the vehicle needs to be tested before the vehicle is shipped. Among them, the communication capability of the vehicle is an important part of the automatic driving function of the vehicle, so it is crucial to effectively test the communication capability of the vehicle.

[0003] Currently, the test of the communication capability of the vehicle often tests the communication capability of the configured communication unit of the vehicle. This results in that, after the communication capability of the vehicle is affected, the actual running process of the vehicle cannot be understood, and the running state of the vehicle is affected. Therefore, in the related art, there is still a problem of low reliability of test results caused by incomplete testing. SUMMARY

[0004] The embodiments of the present application provide an automated vehicle communication testing method, system and electronic device, which can effectively improve the reliability of the test results.

[0005] In a first aspect, the embodiments of the present application provide an automated vehicle communication testing method, which is applied to an automated vehicle communication testing system. The automated vehicle communication testing system includes a test unit, a vehicle and a test environment simulation unit which are communicatively connected to each other. The method includes:

[0006] The test unit acquires test environment simulation information, wherein the test environment simulation information includes at least one test environment parameter;

[0007] The test unit controls the test environment simulation unit to simulate the test environment according to the test order of each test environment parameter and the environment test parameter which is not executed in the test environment simulation information;

[0008] The test unit controls the vehicle to run in the test environment;

[0009] The test unit sends test data to the target communication device in the vehicle and collects running data of the vehicle in the test environment;

[0010] The test unit acquires test feedback information generated by the target communication device in response to the test data, generates a first test result; and generates a second test result according to the running data of the vehicle in the test environment;

[0011] In a case that the first test result and the second test result are both passed, return to execute an environment test parameter which is not executed according to the test order of each test environment parameter and the test environment simulation information, simulate the test environment until each environment test parameter test is completed.

[0012] In some implementable manners of the first aspect, the automated vehicle communication test system comprises a data acquisition unit, the data acquisition unit comprises one or more preset sensors for acquiring operation data of the operation control assembly of the vehicle, wherein the operation control assembly comprises at least any one of a steering wheel assembly, a steering control assembly and a steering execution assembly.

[0013] The test unit sends test data to the target communication device in the vehicle and acquires operation data of the vehicle in the test environment, comprising:

[0014] The test unit sends test data to the target communication device in the vehicle and controls each preset sensor in the data acquisition unit to acquire operation data of the operation control assembly of the vehicle.

[0015] The test unit receives operation data acquired by each preset sensor sent by the data acquisition unit to obtain operation data of the vehicle in the test environment.

[0016] In some implementable manners of the first aspect, the automated vehicle communication test system further comprises a corresponding operation perception simulation model of the vehicle and a corresponding dynamics simulation model of the vehicle.

[0017] The test unit controls the vehicle to operate in the test environment, comprising:

[0018] The test unit controls the operation perception simulation model and the dynamics simulation model to operate respectively.

[0019] The vehicle generates environment monitoring information according to the operation perception simulation model and generates vehicle operation control information according to the dynamics simulation model.

[0020] In some implementable manners of the first aspect, before the test unit acquires the test environment simulation information, the method further comprises:

[0021] Acquire parameter values corresponding to the dynamics parameters and the sensor acquisition parameters respectively;

[0022] According to the parameter values corresponding to the dynamics parameters, construct the corresponding dynamics simulation model of the vehicle; and according to the parameter values corresponding to the sensor acquisition parameters, construct the corresponding operation perception simulation model of the vehicle.

[0023] In some implementable manners of the first aspect, according to the operation data of the vehicle in the test environment, generate the second test result, comprising:

[0024] Obtain actual vehicle operating information;

[0025] Compare whether the actual operating information is consistent with the vehicle operation control information;

[0026] If the actual operating information is consistent with the vehicle operation control information, a second test result is generated, which includes passing the test.

[0027] In some possible implementations of the first aspect, the automated vehicle communication test system further includes a simulator, the target communication device including a gateway; the test unit sends test data to the target communication device in the vehicle, including:

[0028] The test unit controls the simulator to send attack messages and periodically send first verification messages to the gateway through the first communication link, so that the gateway forwards the first verification messages to the simulator through the second communication link;

[0029] The test unit acquires the test feedback information generated by the target communication device in response to the test data, and generates the first test result, including:

[0030] The test unit obtains the first time interval in which the simulator receives the first verification message. If the first time interval meets the first preset time range, the first test result is obtained, which is a pass test.

[0031] In some possible implementations of the first aspect, the test unit controls the simulator to send attack messages to the gateway and periodically send first verification messages via the first communication link, and the method further includes:

[0032] The test unit controls the simulator to send a first verification message to the gateway through the first communication link, so that the gateway forwards the first verification message to the simulator through the second communication link;

[0033] The test unit obtains the second time interval between the simulator receiving the first verification message;

[0034] When the second time interval meets the second preset time range, the test unit controls the simulator to send attack messages to the gateway and periodically send the first verification messages through the first communication link.

[0035] In some possible implementations of the first aspect, the automated vehicle communication test system also includes a vehicle server, and the target communication device includes a telematics device (Tbox).

[0036] The test unit sends test data to the target communication device in the vehicle, including:

[0037] The test unit generates first identity information, and controls the vehicle server to send the first identity information to the telematics device Tbox, so that the telematics device Tbox performs identity authentication on the first identity information.

[0038] The test unit obtains test feedback information generated by the target communication device in response to the test data, and generates a first test result, including:

[0039] The test unit obtains an authentication result of the telematics device Tbox on the first identity information.

[0040] In a case where the authentication result is not passed, a first test result is obtained, and the first test result is passed.

[0041] In a case where the authentication result is not passed, a first test result is obtained, and the first test result is passed.

[0042] In a case where the authentication result is not passed, a first test result is obtained, and the first test result is passed.

[0043] In a case where the authentication result is not passed, a first test result is obtained, and the first test result is passed.

[0044] In a case where the authentication result is not passed, a first test result is obtained, and the first test result is passed.

[0045] The automatic vehicle communication test method, system and electronic device provided by the embodiments of the present application can be applied to an automatic vehicle communication test system, which can include a test unit, a vehicle and a test environment simulation unit connected with each other in communication. Specifically, the test unit obtains test environment simulation information, wherein the test environment simulation information includes at least one test environment parameter, and controls the test environment simulation unit to simulate a test environment according to a test order of each test environment parameter and an environment test parameter that has not been tested in the test environment simulation information. Next, the test unit controls the vehicle to run in the test environment, and sends test data to a target communication device in the vehicle, and collects vehicle running data in the test environment. Then, the test unit obtains test feedback information generated by the target communication device in response to the test data, and generates a first test result. Furthermore, the test unit generates a second test result according to the vehicle running data in the test environment. In the case that both the first test result and the second test result pass the test, the test unit returns to the step of simulating the test environment according to the test order of each test environment parameter and the environment test parameter that has not been tested in the test environment simulation information, until each environment test parameter is tested, and the whole test process can be automatically performed, and the test environment can be automatically adjusted, thereby effectively reducing the manual participation. Moreover, since the actual vehicle can run in the actual virtual environment, the vehicle running data can be obtained in real time when the communication device in the vehicle is tested, the real reflection of the vehicle to the communication failure can be fully understood, and the reliability of the test result is improved. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0047] Figure 1 is a structural schematic diagram of an automatic vehicle communication test system provided by the embodiments of the present application;

[0048] Figure 2 is a flowchart of an automatic vehicle communication test method provided by the embodiments of the present application;

[0049] Figure 3 is a structural schematic diagram of another automatic vehicle communication test system provided by the embodiments of the present application;

[0050] Figure 4 is a structural schematic diagram of still another automatic vehicle communication test system provided by the embodiments of the present application;

[0051] Figure 5 is a structural schematic diagram of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0052] The features and exemplary embodiments of the various aspects of the present application will be described in detail below with reference to the figures and specific embodiments. The embodiments described herein are intended to explain the principles of the present application and to enable others skilled in the art to most benefit from the present application. The embodiments described herein are intended to explain the principles of the present application and to enable others skilled in the art to most benefit from the present application. The embodiments described herein are intended to explain the principles of the present application and to enable others skilled in the art to most benefit from the present application.

[0053] It should be noted that the terms such as first and second, etc., are merely intended to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0054] The term "and / or" herein is merely a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone.

[0055] With the development of automatic driving technology, more and more vehicles begin to be equipped with automatic driving function. Since the safety and reliability of the automatic driving function is the primary problem to ensure driving safety, the automatic driving function of the vehicle needs to be tested before the vehicle is shipped. Among them, the communication capability of the vehicle is an important part of the automatic driving function of the vehicle, so it is very important to effectively test the communication capability of the vehicle.

[0056] Currently, the test of the communication capability of the vehicle often tests the single communication capability of the configured communication unit of the vehicle. This results in that, after the communication capability of the vehicle is affected, the actual running process of the vehicle cannot be understood, and the running state of the vehicle is affected. Therefore, in the related art, there is still a problem of low reliability of test results caused by incomplete testing.

[0057] To this end, the embodiment of the present application provides an automatic vehicle communication test method, system and electronic device, which can effectively improve the reliability of test results.

[0058] The automatic vehicle communication test method provided by the embodiment of the present application will be introduced below with reference to the accompanying drawings.

[0059] Figure 1 FIG. 1 is a structural schematic diagram of an automatic vehicle communication test system provided by an embodiment of the present application, which is combined with Figure 1 As shown in the figure, the automatic vehicle communication test system includes a test unit 110, a vehicle 120 and a test environment simulation unit 130 which are communicatively connected.

[0060] The test unit 110 can include a host computer, a slave computer, an axle coupling dynamometer bench, a servo controller, a frequency conversion control cabinet and a fault injection device, etc., wherein the slave computer / host computer can be one or multiple, and the multiple can exchange information through a switch and an Ethernet. The host computer 110 can run a corresponding running perception simulation model of the vehicle and a corresponding dynamics simulation model of the vehicle. The vehicle 120 can be a four-wheel drive vehicle, a two-wheel drive vehicle, etc., and the type of the vehicle is not limited herein. The test environment simulation unit 130 can simulate a test environment according to environment simulation information.

[0061] For example, the vehicle under test is installed on the bench and the vehicle body itself does not move, which eliminates the risk of rollover and collision, and when the gateway cannot normally forward the message, the communication between the CAN domains is lost or the Tbox fails to identify the attack data packet, the vehicle will not lose control and cause danger, and in the test process, the vehicle running control information can be generated by the dynamics simulation model, the vehicle running control components are controlled to run according to the vehicle running control information, and the vehicle running data are collected by the preset sensors, wherein the running control components include at least any one of a steering wheel assembly, a steering control component and a steering execution component.

[0062] Figure 2 FIG. 2 shows a flowchart of an automatic vehicle communication test method provided by an embodiment of the present application. The automatic vehicle communication test method can be executed by a test unit in an automatic vehicle communication test system. As shown in the figure, the method can include the following steps: Figure 2

[0063] Step 210: The test unit acquires test environment simulation information, wherein the test environment simulation information includes at least one test environment parameter;

[0064] Step 220: The test unit controls the test environment simulation unit to simulate a test environment according to a test order of each test environment parameter and an environment test parameter which has not been executed in the test environment simulation information;

[0065] ​Step 230, the test unit controls the vehicle to run in the test environment;

[0066] Step 240, the test unit sends test data to the target communication device in the vehicle, and collects vehicle running data in the test environment;

[0067] Step 250, the test unit obtains test feedback information generated by the target communication device in response to the test data, generates a first test result; and generates a second test result according to the vehicle running data in the test environment;

[0068] Step 260, in the case that the first test result and the second test result are both passed, return to execute the step of simulating the test environment according to the test order of each test environment parameter and the test environment simulation information, until each environment test parameter test is completed.

[0069] Specifically, in relation to the above step 210 and the above step 220, the automated vehicle communication test system can construct a test environment according to the test environment simulation information. The test environment may, for example, be an open road test environment, an accident scene test environment, an indoor garage test environment, etc. The test environment can include environmental elements such as buildings, trees, vehicles, pedestrians, road surfaces, traffic signs, weather, etc.

[0070] The test environment parameters can include environmental element identification, location information of environmental elements, quantity information of environmental elements, etc. The automated vehicle communication test system can construct a test environment according to at least one test environment parameter included in the test environment simulation information.

[0071] Based on the construction of the test environment, the vehicle can be controlled to run in the test environment in order to obtain running data generated by the vehicle in different test environments. It can be understood that the vehicle to be tested is installed on a test bench and the vehicle body itself will not move, but during the test process, the running control component can receive control and the running control component can execute the received control information. Exemplarily, the running control component includes at least any one of a steering wheel assembly, a steering control component, and a steering execution component. For example, the steering wheel assembly can include a steering wheel reducer and a road feel motor, etc.; the steering control component can include a synchronous steering control component, a variable angle transmission ratio control component, and a road feel simulation control component, etc.; the steering execution component can include a steering motor, a rack and pinion assembly, etc.

[0072] In some embodiments, the automated vehicle communication test system further includes a corresponding running perception simulation model of the vehicle and a corresponding dynamics simulation model of the vehicle.

[0073] Involving the above step 230, the test unit controls the vehicle to run in the test environment, which can be: the test unit controls the respective control running of the perception simulation model and the dynamics simulation model; the vehicle generates environment monitoring information according to the running of the perception simulation model, and makes the dynamics simulation model generate vehicle operation control information.

[0074] In some embodiments, obtaining the test environment simulation information by the test unit can be implemented by constructing the corresponding running perception simulation model of the vehicle and the corresponding dynamics simulation model of the vehicle. Specifically, collecting parameter values corresponding to the respective parameters of the dynamics parameters and the sensor collection parameters of the vehicle; constructing the corresponding dynamics simulation model of the vehicle according to the parameter values corresponding to the dynamics parameters; and constructing the corresponding running perception simulation model of the vehicle according to the parameter values corresponding to the sensor collection parameters.

[0075] In one example, the corresponding running perception simulation model of the vehicle and the corresponding dynamics simulation model of the vehicle can be pre-constructed. The perception model can be run together with the vehicle dynamics model in the test scene, or can be run separately in the test scene.

[0076] In the construction process of the perception simulation model, the collection data of the sensors in the vehicle can be input into the corresponding window of the perception simulation software, so as to generate the perception simulation model corresponding to the vehicle under test. For example, the collection data can include vehicle dynamics parameters such as suspension system, tire system, steering system, power system, brake system, aerodynamics, vehicle mass, center of mass, inertia, etc. The collection methods include but are not limited to vehicle structure measurement, wind tunnel experiment, inertia experiment, tire experiment, sliding experiment, steering experiment, etc.

[0077] For example, the collection data can also include sensor parameters of the vehicle under test such as millimeter wave radar, laser radar, ultrasonic radar, camera, etc. The millimeter wave radar sensor parameters include: installation position, installation angle, maximum detection distance, distance resolution, ranging accuracy, maximum detection speed, speed resolution, speed accuracy, detection angle range, angle resolution, angle accuracy, etc.; the laser radar sensor parameters include: installation position, installation angle, line number, range, wavelength, accuracy, precision, field of view angle, angle resolution, scanning frequency, return mode, etc.; the ultrasonic radar sensor parameters include: installation position, installation angle, measurement distance, measurement accuracy, detection angle, working frequency, working temperature, etc.; the camera sensor parameters include: installation position, installation angle, resolution, color restoration, frame rate, field of view angle, etc.

[0078] The collection data can also include vehicle sliding test data, for example, selecting an open road to drive the vehicle to accelerate to 100kph and start sliding until it stops, and recording the vehicle speed-time curve during the test.

[0079] The collected data can also include steering wheel steering return data, for example, select an open field, the vehicle idles forward, the steering wheel is fully turned to the left and then released, the vehicle starts to automatically return to straight until the steering wheel is stable, and a steering wheel angle-time curve is generated; the steering wheel is straightened, the vehicle idles forward, the steering wheel is fully turned to the right and then released, the vehicle starts to automatically return to straight until the steering wheel is stable, and a steering wheel angle-time curve is generated.

[0080] The constructed perception simulation model can input the video pictures perceived by the cameras in the model, the target quantity, target distance, target speed and other information perceived by the millimeter wave radar, the target quantity, target distance, target speed and other information perceived by the ultrasonic radar, the target shape, target size, target quantity, target distance, target speed and other information perceived by the laser radar, into the vehicle to be tested through video dark box, video injection, millimeter wave radar simulation equipment, ultrasonic radar simulation equipment, laser radar simulation equipment. At the same time, the position data of the vehicle in the test scene in the model can be sent to the positioning receiving device of the vehicle to be tested through the global navigation satellite system simulator.

[0081] In yet another example, during the construction process, the collected data of the sensors in the vehicle can be input into the corresponding window of the dynamics simulation software, thereby generating a dynamics simulation model corresponding to the vehicle to be tested.

[0082] For example, the dynamics simulation model of the vehicle is run in the lower computer, the wheel torque signal and the wheel angle signal collected by the lower computer are taken as the input of the dynamics model, the vehicle speed and the return torque received by the tire are taken as the output of the model, and then the output result is converted into the speed signal of the longitudinal force simulation motor and the torque signal of the steering simulation motor according to the tire size of the vehicle to be tested and the mechanical size of the axle coupling dynamometer bench, so as to realize the control of the longitudinal force simulation motor and the steering resistance simulation motor.

[0083] In addition, in order to improve the reliability of the test results of the vehicle communication, the simulation model of the vehicle can be verified in advance for accuracy, and the vehicle is tested for communication capability again in the case that the dynamics simulation model passes the accuracy verification.

[0084] For example, the longitudinal force simulation based on the dynamic simulation model can be realized by replacing the real vehicle wheels with four dynamometers to provide the longitudinal force for the original vehicle. The longitudinal force includes inertia resistance, slope resistance, air resistance, rolling resistance, driving force, and braking force. The longitudinal force simulation motor adopts a speed control mode. After being ready, the test vehicle is started to accelerate. The dynamometer reads the real wheel edge torque value through the torque sensor. The lower computer collects the torque into the dynamic model through the board card and calculates the wheel edge speed. Then, the lower computer controls the frequency conversion cabinet to realize the speed control of the longitudinal force simulation motor. The longitudinal force simulation motor applies the torque value to the drive shaft through speed tracking, so as to achieve the purpose of longitudinal force simulation of the whole vehicle.

[0085] During the longitudinal force simulation verification, after starting the vehicle, the coasting test scenario can be called, and the dynamic model is run. The test vehicle is started to accelerate to 100 kph. During the vehicle coasting process, the vehicle speed-time curve is recorded until the vehicle stops. Next, the simulation curve and the test curve are aligned on the time axis to compare the vehicle speed value coincidence degree. Optionally, a set of vehicle speed values can be taken every 0.1 s to calculate the difference between the two values, and the percentage of the difference in the test vehicle speed is calculated. If the sum of the percentages is less than 5%, the accuracy verification of the longitudinal force simulation is passed.

[0086] In another example, the steering resistance simulation is based on the dynamic simulation model. When the vehicle is steering, the road exerts a lateral force on the tire, which will generate a return torque under the action of the lateral force and the steering system parameters. The shaft coupling dynamometer bench is integrated with a rotation angle sensor. The lower computer can collect the angle value of the rotation angle sensor in real time through CAN communication, and use the value as the input of the dynamic simulation model to calculate the return torque of the steering wheel and output the torque value to the servo controller to control the torque value of the steering resistance simulation motor. Because the rotational inertia of the shaft coupling dynamometer bench around the main pin shaft of the measured vehicle is greater than the rotational inertia of the tire, an inertia compensation algorithm is added at the beginning and end of the steering action to ensure that the mechanical properties of the steering system are consistent with those of the original vehicle.

[0087] During the steering resistance simulation accuracy verification process, for example, after starting the vehicle, the steering test scenario is called, and the dynamic model is run. Next, the measured vehicle is controlled to advance at idle speed, then the steering wheel is fully turned to the left and released, the vehicle starts to return, and the steering wheel rotation angle-time curve is recorded. Next, the simulation curve and the test curve are aligned on the time axis to compare the steering wheel rotation angle value coincidence degree: a set of steering wheel rotation angle values are taken every 0.1 s to calculate the difference between the two values, and the percentage of the difference in the test steering wheel rotation angle is calculated. After the sum of the percentages is calculated, if the average value is less than 5%, the accuracy verification of the steering resistance simulation is passed.

[0088] In addition, the steering wheel can be released after being fully turned to the right, the vehicle starts to return to the normal position, the steering wheel angle-time curve is recorded, the vehicle speed value is compared after aligning the simulation curve with the test curve time axis, and the accuracy of the steering resistance simulation is verified by taking a group of steering wheel angle values every 0.1S to calculate the difference between the two values as a percentage of the test steering wheel angle, and the average value of the sum of the percentages is less than 5%.

[0089] In some embodiments, in relation to step 240 described above, the test data sent by the test unit to the target communication device in the vehicle can be a preset verification message, an attack message, etc. During the operation of the vehicle in the test environment, the communication capability of the vehicle can be tested by sending test messages to the vehicle. At the same time, during the process of sending test messages to the vehicle, the running data of the vehicle in the test environment can be collected by the preset sensors.

[0090] Specifically, the automated vehicle communication test system can include a data acquisition unit, and the data acquisition unit includes one or more preset sensors for collecting running data of the running control components of the vehicle, wherein the running control components include at least any one of the steering wheel assembly, the steering control component, and the steering execution component.

[0091] The test unit sends test data to the target communication device in the vehicle and collects running data of the vehicle in the test environment, including: the test unit sends test data to the target communication device in the vehicle and controls each preset sensor in the data acquisition unit to collect running data of the running control components of the vehicle; the test unit receives the running data collected by each preset sensor sent by the data acquisition unit to obtain the running data of the vehicle in the test environment.

[0092] For example, the preset sensors can include torque sensors, angle sensors, steering sensors, linear displacement sensors, etc., and the specific sensors can be configured according to the test needs.

[0093] The test unit collects running data of the running control components of the vehicle through each preset sensor to collect running data of the vehicle in the test environment.

[0094] In some embodiments, the second test result can be generated according to the running data of the vehicle in the test environment, which can include: obtaining actual running information of the vehicle; comparing whether the actual running information is consistent with the vehicle running control information; and in the case that the actual running information is consistent with the vehicle running control information, generating a second test result, and the second test result includes passing the test.

[0095] For example, the actual running information of the vehicle, such as the actual steering angle of the steering wheel, the actual torque of the steering wheel, the actual vehicle speed, and the like, can be adjusted according to the test requirements. The vehicle running control information, such as the control information of the steering angle of the steering wheel, the torque control information of the steering wheel, the vehicle speed control information, and the like.

[0096] It can be understood that when the actual running information is inconsistent with the vehicle running control information, the generated second test result includes a test failure. In the case that the second test result includes a test failure, the staff can check the hardware device connection and the software control rationality until the cause is found, and the problem is solved by retesting.

[0097] In order to more clearly introduce the embodiments of the present application, the communication capability test of the vehicle can include testing the communication capability of the communication link and the communication capability of the telematics device.

[0098] In some embodiments, the automated vehicle communication test system further includes a simulation machine, and the target communication device includes a gateway. Figure 3 is another structure schematic diagram of an automated vehicle communication test system provided by the embodiments of the present application. In combination with Figure 3 As shown in the figure, the host computer can be in communication connection with the simulation machine, and control the simulation machine to send messages to the gateway, and read the messages received by the simulation machine.

[0099] Involving the above-mentioned steps 240 and step 250, the test unit sends test data to the target communication device in the vehicle, the test unit acquires test feedback information generated by the target communication device in response to the test data, and generates a first test result, which can include: the test unit controls the simulation machine to send attack messages and periodically sends first verification messages to the gateway through the first communication link CAN1, so that the gateway forwards the first verification messages to the simulation machine through the second communication link CAN2; the test unit acquires the first time interval of the simulation machine receiving the first verification message, and obtains the first test result in the case that the first time interval meets the first preset time range, and the first test result is a test pass.

[0100] Specifically, the periodic first verification message can simulate the case that the gateway normally receives the message, and at the same time, by sending attack messages to the gateway, it can be ensured that the gateway has the ability to identify attack messages in the communication process.

[0101] In combination with Figure 3As shown, the test unit can be implemented as a host computer. For example, the host computer can acquire a first time interval for the simulation machine to receive the first verification packet. If the first time interval meets a first preset time range, it indicates that the gateway has the ability to identify attack packets in the communication process and can maintain normal communication. At this time, a first test result of the communication ability of the gateway can be obtained, and the first test result is a pass.

[0102] In addition, if the first time interval does not meet the first preset time range, it indicates that the gateway will be affected by attack packets in the communication process and cannot communicate normally. At this time, the test result obtained is a fail.

[0103] In some embodiments, in order to improve the reliability of the test result, the test unit controls the simulation machine to send attack packets and periodically send first verification packets to the gateway through the first communication link CAN1. The following steps can be referred to:

[0104] The test unit controls the simulation machine to send the first verification packet to the gateway through the first communication link CAN1, so that the gateway forwards the first verification packet to the simulation machine through the second communication link CAN2. The test unit acquires a second time interval for the simulation machine to receive the first verification packet. In the case that the second time interval meets a second preset time range, the test unit controls the simulation machine to send attack packets and periodically send first verification packets to the gateway through the first communication link CAN1.

[0105] Specifically, continuing with the host computer as an example, the host computer can send the first verification packet to the gateway through the first communication link CAN1 before controlling the simulation machine to send attack packets to the gateway through the first communication link CAN1. The second time interval for the simulation machine to receive the first verification packet is acquired. By detecting whether the second time interval meets the second preset time range, the communication condition of the current gateway under the condition of not being attacked is determined.

[0106] For example, in the case that the second time interval meets the second preset time range, it indicates that the communication gateway can communicate normally. At this time, the test result obtained by sending attack packets to the gateway has higher reliability, thereby avoiding invalid test.

[0107] In another specific embodiment of the present application, the automated vehicle communication test system further comprises a vehicle service end, and the target communication device comprises a telematics device Tbox. Figure 4 is another structure schematic diagram of an automated vehicle communication test system provided by the embodiments of the present application.

[0108] Involving the above step 240 and the above step 250, the test unit sends test data to the target communication device in the vehicle, and the test unit obtains test feedback information generated by the target communication device in response to the test data, generates a first test result, which can specifically include the following steps:

[0109] The test unit generates first identity information, and controls the vehicle server to send the first identity information to the telematics device Tbox, so that the telematics device Tbox performs identity authentication on the first identity information; the test unit obtains an authentication result of the telematics device Tbox on the first identity information; in the case that the authentication result is not passed, a first test result is obtained, and the first test result is passed.

[0110] For example, the vehicle server can be a cloud platform of an enterprise to which the vehicle belongs, such as a public cloud platform, a private cloud platform, a hybrid cloud platform, and the like.

[0111] Continuing to take the test unit implementation as the host computer as an example, in combination with Figure 4 As shown in the figure, the host computer can be in communication connection with the telematics device Tbox in the vehicle, and can read the communication data packet between the telematics device Tbox and the vehicle server. For example, a packet capture tool can be used to capture the communication data packet between the telematics device Tbox and the vehicle server.

[0112] In the communication data packet between the telematics device Tbox and the vehicle server, one or more preset parameters can correspond to parameter values. The host computer can analyze whether the parameter values corresponding to the preset parameters conform to the preset filling specification, so as to judge the communication capability of the telematics device Tbox.

[0113] For example, in the process of testing the communication capability of the telematics device Tbox, the host computer can construct a communication data packet of first identity information, wherein the first identity information includes a parameter value that does not conform to the filling specification. The host computer obtains an authentication result of the telematics device Tbox on the first identity information, wherein, since the first identity information includes a parameter value that does not conform to the filling specification, the telematics device Tbox can identify that the first identity information does not conform to the filling specification and does not pass the identity authentication, which indicates that the telematics device Tbox has the ability to identify illegal communication data packets, and thus a first test result can be obtained, and the first test result is passed.

[0114] It can be understood that if the telematics device Tbox is authenticated by the first identity information through the current communication, it means that the telematics device Tbox does not have the ability to identify illegal communication data packets, and the staff needs to check the connection of the hardware device and the rationality of the software control until the cause is found, and the problem is solved. After testing again.

[0115] In some embodiments, in relation to step 260 described above, in one test scenario, based on the vehicle target communication device force and the vehicle running data in the test environment, after the test results are generated respectively, if the first test result and the second test result are both passed, the test environment test parameters which are not executed according to the test order of each test environment parameter and the test environment simulation information are simulated to execute the test environment, until each environment test parameter test is completed.

[0116] According to the embodiments of the present application, the efficient, safe, full and reproducible automatic vehicle communication test, the automatic test software improves the test speed. Specifically, the test can be completed in the laboratory, and the vehicle body does not move when the vehicle is installed on the test bench, which eliminates the risk of rollover and collision. And when the gateway cannot normally forward the message, the communication between each CAN domain is lost or the Tbox fails to identify the attack data packet, the vehicle will not lose control and cause danger. The test is comprehensive: the current test method can test the safety of Tbox setting, but cannot test the influence of an abnormal remote data packet on the real vehicle driving. The present application can realize the observation of whether the Tbox can identify the data packet when the attacker sends a malicious data packet and the reaction of the real vehicle when the identification fails, and then make optimization; by observing the message forwarding delay to determine whether the gateway function is normal, there is no obvious visual effect and real vehicle driving scene. The present application can realize the observation of the influence on the real vehicle driving under the condition that the gateway is attacked or the message transmission is abnormal, and the reaction of the real vehicle under the condition that the gateway cannot normally forward the message and the communication between each CAN domain is lost. Reproducibility: artificial construction of environmental factors, scene information, which can be repeatedly called in test testing, is conducive to the problem reproduction in the test process, and facilitates the problem troubleshooting of the test vehicle.

[0117] Figure 5 The structure schematic diagram of the automatic vehicle communication test device provided by one embodiment of the present application is shown. As shown in the figure, the device can include a processor 501 and a memory 502 storing computer program instructions. Figure 5

[0118] ​Specifically, the processor 501 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits that implement the embodiments of the present application.

[0119] The memory 502 can include a mass storage for information or instructions. By way of example, and not limitation, the memory 502 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. In one example, the memory 502 can include a removable or non-removable (or fixed) media, or the memory 502 is a non-volatile solid-state memory. The memory 502 can be internal or external to the automated vehicle communication testing device.

[0120] The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums, optical storage mediums, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to perform operations described with reference to the methods according to an aspect of the present disclosure.

[0121] The processor 501 implements the methods described in the embodiments of the present application by reading and executing computer program instructions stored in the memory 502, and achieves the corresponding technical effects of the methods performed by the embodiments of the present application. For brevity, this will not be described again.

[0122] In one example, the automated vehicle communication testing device can also include a communication interface 503 and a bus 510. As shown, the processor 501, the memory 502, and the communication interface 503 are connected by the bus 510 and complete communication with each other. Figure 5

[0123] The communication interface 503 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0124] ​Bus 510 includes hardware, software, or both, to couple components of the online information traffic metering device to each other and to other components, such as processors. While Fig. 1 shows the bus connected to the online information traffic metering device, the bus can be connected to one or more other devices. For example, the bus can be connected to one or more processors, memory, storage devices, and / or other components. In some embodiments, the bus can be a proprietary bus, a standard bus, or a combination of a proprietary bus and a standard bus. In some embodiments, the bus can be an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association local (VLB) bus, or another suitable bus or combination of buses. In some embodiments, the bus can include one or more buses. Although this application describes and shows a particular bus, this application contemplates any suitable bus or interconnect.

[0125] The automated vehicle communication test device can perform the automated vehicle communication test method in the embodiments of the present application, thereby achieving the corresponding technical effects of the automated vehicle communication test method described in the embodiments of the present application.

[0126] In addition, in combination with the automated vehicle communication test method in the above embodiments, the embodiments of the present application can provide a readable storage medium to realize. The readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by the processor to realize any one of the automated vehicle communication test methods in the above embodiments. Examples of the readable storage medium can be non-transitory machine-readable media, such as electronic circuits, semiconductor memory devices, Read-Only Memory (ROM), floppy disks, Compact Disc Read-Only Memory (CD-ROM), optical disks, hard disks, etc.

[0127] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0128] The functional blocks shown in the structural block diagrams described above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the present application are program or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable read-only memory (EROM), floppy disks, compact discs (CD-ROM), optical disks, hard disks, optical fiber media, radio frequency (RF) links, and the like. The code segments can be downloaded via a computer network, such as the Internet, an intranet, or the like.

[0129] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from that in the embodiments, or several steps can be performed simultaneously.

[0130] The embodiments of the present application also provide a computer readable storage medium, which stores computer program instructions; the computer program instructions are executed by a processor to implement the automatic vehicle communication test method provided by the embodiments of the present application.

[0131] In addition, in combination with the automatic vehicle communication test method, device, and readable storage medium in the above embodiments, the embodiments of the present application can provide a computer program product to implement. The instructions in the computer program product are executed by the processor of an electronic device, so that the electronic device executes any one of the automatic vehicle communication test methods in the above embodiments.

[0132] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0133] The above only specifically describes the embodiments of the present application. For the convenience and brevity of description, the specific working processes of the above-described system, module and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein. It should be understood that the protection scope of the present application is not limited in this way. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An automated vehicle communication test method, characterized by, The method is applied to an automated vehicle communication test system, which comprises a test unit, a vehicle and a test environment simulation unit connected with each other in communication; the method comprises: The test unit acquires test environment simulation information, wherein the test environment simulation information comprises at least one test environment parameter; The test unit controls the test environment simulation unit to simulate a test environment according to a test order of each test environment parameter and an environment test parameter that has not been tested in the test environment simulation information; The test unit controls the vehicle to run in the test environment, wherein the automated vehicle communication test system further comprises a corresponding running perception simulation model of the vehicle and a corresponding dynamics simulation model of the vehicle; the running perception simulation model is used to generate environment monitoring information, and the dynamics simulation model is used to generate vehicle running control information; The test unit sends test data to a target communication device in the vehicle and collects running data of the vehicle in the test environment; The test unit acquires test feedback information generated by the target communication device in response to the test data, generates a first test result, and generates a second test result according to the running data of the vehicle in the test environment; In a case where both the first test result and the second test result pass the test, the step of simulating a test environment according to a test order of each test environment parameter and an environment test parameter that has not been tested in the test environment simulation information is returned until each environment test parameter is tested. The automated vehicle communication test system further comprises a simulation machine, and the target communication device comprises a gateway; the test unit sends test data to the target communication device in the vehicle, comprising: The test unit controls the simulation machine to send attack packets and periodically send first verification packets to the gateway through a first communication link, so that the gateway forwards the first verification packets to the simulation machine through a second communication link; The target communication device further comprises a telematics device Tbox, which is used to perform identity authentication on first identity information sent by a vehicle server.

2. The automated vehicle communication test method of claim 1, wherein, The automated vehicle communication test system comprises a data acquisition unit, which comprises one or more preset sensors, and the preset sensors are used to collect running data of a running control component of the vehicle, wherein the running control component comprises at least any one of a steering wheel assembly, a steering control component and a steering execution component; The test unit sends test data to a target communication device in the vehicle and collects running data of the vehicle in the test environment, comprising: The test unit sends test data to a target communication device in the vehicle and controls each preset sensor in the data acquisition unit to collect running data of a running control component of the vehicle; The test unit receives running data collected by each preset sensor in the data acquisition unit and obtains running data of the vehicle in the test environment.

3. The method of claim 2, wherein the test unit controls the vehicle to run in the test environment, including: the test unit controls the running perception simulation model and the dynamics simulation model to run, respectively; the vehicle generates environment monitoring information according to the running perception simulation model, and causes the dynamics simulation model to generate vehicle running control information. Before the test unit acquires the test environment simulation information, the method further includes: collecting parameter values corresponding to dynamics parameters and sensor collection parameters of the vehicle, respectively; constructing a dynamics simulation model corresponding to the vehicle according to the parameter values corresponding to the dynamics parameters; and constructing a running perception simulation model corresponding to the vehicle according to the parameter values corresponding to the sensor collection parameters. The method of generating a second test result according to the running data of the vehicle in the test environment includes: acquiring actual running information of the vehicle; comparing whether the actual running information is consistent with the vehicle running control information; and in the case that the actual running information is consistent with the vehicle running control information, generating a second test result, the second test result including passing the test. The test unit acquires test feedback information generated by the target communication device in response to the test data, and generates a first test result, including: the test unit acquires a first time interval for the simulation machine to receive the first verification packet, and in the case that the first time interval meets a first preset time range, the first test result is obtained, and the first test result is passing the test.

4. The automated vehicle communication test method of claim 3, wherein, The test unit controls the simulation machine to send attack packets and periodically send first verification packets to the gateway through the first communication link, and the method further includes: the test unit controls the simulation machine to send the first verification packet to the gateway through the first communication link, so that the gateway forwards the first verification packet to the simulation machine through the second communication link; the test unit acquires a second time interval for the simulation machine to receive the first verification packet; and in the case that the second time interval meets a second preset time range, the test unit controls the simulation machine to send attack packets and periodically send first verification packets to the gateway through the first communication link. The automated vehicle communication test system further includes a vehicle service side; the test unit sends test data to a target communication device in the vehicle, including: the test unit generates first identity information, and controls the vehicle service side to send the first identity information to the remote information processing device Tbox, so that the remote information processing device Tbox performs identity authentication on the first identity information; the test unit acquires test feedback information generated by the target communication device in response to the test data, and generates a first test result, including: the test unit acquires an authentication result of the remote information processing device Tbox on the first identity information; and in the case that the authentication result is not passed, the first test result is obtained, and the first test result is passing the test. ​ 5. The automated vehicle communication test method of claim 3, wherein, ​ ​ ​ ​ 6. The automated vehicle communication test method of claim 2, wherein, ​ ​ 7. The automated vehicle communication test method of claim 6, wherein, ​ ​ ​ ​ 8. The automated vehicle communication test method of claim 2, wherein, ​ ​ ​ ​ ​ ​ 9. An automated vehicle communication test system, characterized by, The automated vehicle communication test system comprises a test unit, a vehicle and a test environment simulation unit which are communicatively connected to each other, and is used to implement the automated vehicle communication test method according to any one of claims 1 to 8.

10. An electronic device, comprising: The device comprises a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the automated vehicle communication test method according to any one of claims 1 to 8.

Images