A method and apparatus for testing unmanned delivery vehicles based on signal interference devices.

Abstract

This invention relates to a method and apparatus for testing unmanned delivery vehicles using signal jamming equipment. The method includes: receiving test cases; generating start and end coordinates and confirming the start position; parking the vehicle under test at the start position; configuring the signal jamming equipment; configuring the vehicle and equipment antennas; setting the vehicle to stop when it reaches a preset end coordinate; controlling the vehicle to enter a driving state and travel from the start position to the preset end coordinate; during the driving process, if it is a real-world interference-free mode, using real satellite signals from the test site as multi-satellite test signals; if it is a simulated anti-interference or simulated interference-free mode, the signal jamming equipment generates multi-satellite test signals, and the vehicle controls its driving based on the multi-satellite test signals and outputs a relative displacement sequence; performing actual trajectory derivation when parking; and analyzing the vehicle's positioning anti-interference capability based on the expected test trajectory and the actual test trajectory. This invention can improve the sufficiency of testing the positioning function of unmanned delivery vehicles.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a processing method and apparatus for testing unmanned delivery vehicles based on signal interference equipment. Background Technology

[0002] Conventional unmanned delivery vehicle positioning functions rely on satellite positioning (such as BeiDou, GPS, GLONASS, and Galileo). Evaluating the anti-interference capability of this positioning function is a necessary pre-shipment test. Currently, a common evaluation method involves selecting a section of the real-world road network as the test segment and testing the positioning function of the unmanned delivery vehicle on this segment. However, practical experience has revealed several problems with this conventional method: the test segment cannot arbitrarily combine one or more satellite signals, nor can the signal strength be arbitrarily adjusted, nor can the signals be arbitrarily interfered with; thus, the testing of the unmanned delivery vehicle's positioning function is always insufficient. Deploying a large number of insufficiently tested unmanned delivery vehicles into the real-world road network would undoubtedly create traffic hazards. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a method, apparatus, electronic device, and computer-readable storage medium for testing unmanned delivery vehicles using a signal jamming device. It provides a signal jamming device that can be configured to simulate multi-satellite signals, and simultaneously offers three test modes (simulated anti-interference mode, simulated no-interference mode, and real-scene no-interference mode). In the simulated anti-interference mode, the signal jamming device generates a set of multi-satellite test signals (a deceptive signal obtained by embedding a set test error into the real satellite signals) based on the test configuration, and tests the anti-interference capability of the unmanned delivery vehicle's positioning function based on these multi-satellite test signals. In the simulated no-interference mode, the signal jamming device generates a set of multi-satellite test signals consisting entirely of real satellite signals based on the test configuration, and tests the anti-interference capability of the unmanned delivery vehicle's positioning function based on these multi-satellite test signals. In the real-scene no-interference mode, the anti-interference capability of the unmanned delivery vehicle's positioning function is tested based on real satellite signals from a real-world scenario. In each test mode, a pass / fail analysis is performed based on the error between the vehicle's measured trajectory and the expected test trajectory. This invention can provide a configurable multi-satellite test signal environment for the vehicle under test in any test site, and can fully test the vehicle under test based on different test modes and test configurations; this invention can improve the sufficiency of testing the positioning function of unmanned delivery vehicles.

[0004] To achieve the above objectives, a first aspect of the present invention provides a method for testing unmanned delivery vehicles based on signal interference devices, the method comprising:

[0005] The system receives first test case data from a first vehicle under test; the first vehicle under test is an unmanned delivery vehicle; the first vehicle under test includes a first signal receiving antenna; the first vehicle under test is equipped with a corresponding first signal jamming device; the first signal jamming device is a satellite simulated signal simulation device; the first signal jamming device includes a first signal transmitting antenna; the first test case data includes a first test mode, a first test signal configuration, and a first expected test trajectory; the first test mode includes a simulated anti-interference mode, a simulated no-interference mode, and a real-world no-interference mode; the first expected test trajectory includes multiple first trajectory points; each first trajectory point corresponds to a first trajectory point coordinate; each first trajectory point coordinate is a real-world positioning coordinate within the test site.

[0006] The coordinates of the first and last points of the first trajectory are taken as the corresponding first starting coordinates and first ending coordinates; and the ground position of the test site corresponding to the first starting coordinates is taken as the corresponding first starting position.

[0007] The first vehicle under test is parked at the first starting position; the first signal interference device is configured according to the first test signal configuration; the first vehicle under test and the first signal interference device are configured according to the first test mode; the preset end coordinate of the first vehicle under test is set as the corresponding first end coordinate; and the first vehicle under test is set to stop when it reaches the preset end coordinate in the future.

[0008] Control the first vehicle under test to enter a driving state and drive from the first starting position to the ground position corresponding to the preset ending coordinates;

[0009] During the driving of the first vehicle under test, if the first test mode is the real-scene interference-free mode, the real satellite signal in the test site is used as the corresponding multi-satellite test signal; if the first test mode is the simulated anti-interference mode or the simulated interference-free mode, the first signal interference device performs test signal simulation processing to generate the corresponding multi-satellite test signal.

[0010] During the driving process of the first vehicle under test, the first vehicle under test performs vehicle driving control based on the multi-satellite test signals and outputs the corresponding first relative displacement sequence;

[0011] When the first vehicle under test stops, the corresponding first measured trajectory is derived by calculating the measured trajectory based on the latest first relative displacement sequence and the first starting coordinates.

[0012] The positioning anti-interference capability of the first test vehicle is analyzed based on the first expected test trajectory and the first actual test trajectory to obtain the corresponding first analysis result; the first analysis result includes qualified and unqualified.

[0013] Preferably, the first signal jamming device includes a second signal receiving antenna, a first signal processing module, a first time synchronization module, a first main control module, a first configuration module, a first signal simulation module, a first power control module, and the first signal transmitting antenna;

[0014] The output terminal of the second signal receiving antenna is connected to the input terminal of the first signal simulation module; the output terminal of the first signal simulation module is connected to the input terminals of the first time synchronization module and the first main control module respectively; the output terminal of the first time synchronization module is connected to the input terminals of the first main control module and the first signal simulation module respectively; the output terminal of the first configuration module is connected to the input terminals of the first main control module, the first signal simulation module and the first power control module respectively; the output terminal of the first main control module is connected to the input terminal of the first signal simulation module; the output terminal of the first signal simulation module is connected to the input terminal of the first power control module; the output terminal of the first power control module is connected to the input terminal of the first signal transmitting antenna.

[0015] Preferably, the first signal jamming device is used to configure the currently input test signal as the corresponding current test signal configuration through the first configuration module; the current test signal configuration includes main control module configuration information, signal simulation module configuration information, and power control module configuration information; the main control module configuration information includes multiple simulation algorithm model configurations; the simulation algorithm model configuration includes satellite signal type, algorithm model identifier, and algorithm model parameters; the satellite signal type includes BeiDou satellite signal, GPS satellite signal, GLONASS satellite signal, and Galileo satellite signal;

[0016] The first configuration module sets the association between the corresponding simulation algorithm model in the first main control module and the satellite signal type according to the configuration of each simulation algorithm model in the main control module configuration information, configures the model parameters of the corresponding simulation algorithm model in the first main control module according to the configuration of each simulation algorithm model, configures the preset simulation parameter set in the first signal simulation module according to the configuration information of the signal simulation module, and configures the preset power control parameter set in the first power control module according to the configuration information of the power control module.

[0017] The first signal jamming device is further configured to receive signals from multiple specified types of satellite signals through the second signal receiving antenna to obtain a corresponding first group of multi-satellite signals, and output each specified type of satellite signal in the first group of multi-satellite signals as a corresponding first satellite signal to the first signal processing module; the specified type of satellite signals include BeiDou satellite signals, GPS satellite signals, GLONASS satellite signals and Galileo satellite signals;

[0018] The first signal processing module performs signal encoding and parsing processing on each of the first satellite signals to obtain corresponding first satellite parsing data, which is then output to the first main control module, and each of the first satellite signals is output to the first time synchronization module.

[0019] The first time synchronization module performs clock discipline processing on each of the first satellite signals to obtain the corresponding first satellite positioning time and first satellite clock frequency, outputs the first satellite positioning time to the first main control module, performs frequency offset modulation processing on the first satellite clock frequency based on preset frequency offset parameters, and outputs the obtained modulated clock frequency as the corresponding first satellite time and frequency reference to the first signal simulation module.

[0020] The first main control module inputs the first satellite positioning time and the first satellite parsing data corresponding to each first satellite signal into the corresponding simulation algorithm model to perform simulation signal parameter processing to obtain the corresponding first simulation signal parameter set. Then, according to the satellite signal encoding rules corresponding to the first satellite signal, the first simulation signal parameter set is used for signal encoding processing, and the obtained signal encoding is output to the first signal simulation module as the corresponding first satellite simulation signal encoding.

[0021] The first signal simulation module generates simulation signals based on the first satellite time-frequency reference corresponding to each first satellite signal, the first satellite simulation signal encoding, and the currently configured set of simulation parameters, and outputs the resulting simulation signals as the corresponding first satellite simulation signals to the first power control module.

[0022] The first power control module performs signal gain regulation on each of the first satellite simulation signals according to the simulation signal gain regulation parameters corresponding to various satellite signals in the currently configured power control parameter set to obtain the corresponding first satellite simulation regulation signal. Then, it performs signal combining on all the obtained first satellite simulation regulation signals to obtain the corresponding first combined signal. Finally, it performs signal gain regulation on the first combined signal according to the simulation signal gain regulation parameters corresponding to the combined signal in the currently configured power control parameter set and outputs the obtained regulation signal as the corresponding multi-satellite simulation signal to the first signal transmitting antenna.

[0023] The multi-satellite simulation signal is then transmitted outward via the first signal transmitting antenna.

[0024] Preferably, the step of configuring the first signal interference device according to the first test signal specifically includes:

[0025] The first test signal configuration is input into the first configuration module of the first signal interference device; the first test signal configuration includes configuration information of the first main control module, configuration information of the first signal simulation module, and configuration information of the first power control module; the configuration information of the first main control module includes multiple configurations of the first simulation algorithm model; the configuration of the first simulation algorithm model includes the first satellite signal type, the first algorithm model identifier, and the first algorithm model parameters; the first satellite signal type includes BeiDou satellite signal, GPS satellite signal, GLONASS satellite signal, and Galileo satellite signal;

[0026] The first configuration module sets the correspondence between the simulation algorithm model and the satellite signal type in the first main control module according to the configuration information of the first main control module for each of the first simulation algorithm models. It also configures the model parameters of the simulation algorithm model in the first main control module according to the configuration information of each of the first simulation algorithm models. Furthermore, it configures the preset set of simulation parameters in the first signal simulation module according to the configuration information of the first signal simulation module. Finally, it configures the preset set of power control parameters in the first power control module according to the configuration information of the first power control module.

[0027] Preferably, the antenna configuration processing for the first vehicle under test and the first signal interference device according to the first test mode specifically includes:

[0028] If the first test mode is the real-scene interference-free mode, then the first signal receiving antenna of the first vehicle under test is exposed in the open space of the test site so that the first signal receiving antenna can receive real satellite signals; and the first signal interference device is shut down.

[0029] If the first test mode is a simulated anti-interference mode or a simulated no-interference mode, then the first signal receiving antenna of the first vehicle under test and the first signal transmitting antenna of the first signal jamming device are placed in the same signal shielding device so that the first signal receiving antenna can only receive the transmitted signal of the first signal transmitting antenna, and the second signal receiving antenna of the first signal jamming device is exposed in the open space of the test site so that the second signal receiving antenna can receive real satellite signals; and the first signal jamming device is activated.

[0030] Preferably, when the first test mode is a simulated anti-interference mode, the corresponding configuration information of the first main control module includes X interference simulation configurations and Y real simulation configurations; X and Y are integers greater than 0; the interference simulation configuration is the configuration of the first simulation algorithm model used to implant set test errors to simulate interference simulation signal parameters; the real simulation configuration is the configuration of the first simulation algorithm model used to simulate real simulation signal parameters.

[0031] When the first test mode is the simulated non-interference mode, all the first simulation algorithm model configurations in the corresponding first main control module configuration information are the actual simulation configurations.

[0032] Preferably, if the first test mode is a simulated anti-interference mode or a simulated no-interference mode, the first signal interference device performs test signal simulation processing to generate the corresponding multi-satellite test signal, specifically including:

[0033] When the first test mode is not the real-scene interference-free mode, the corresponding configuration information of the first main control module will be used as the corresponding current main control module configuration information.

[0034] The first signal jamming device receives signals from multiple satellite signals of the specified type through the second signal receiving antenna to obtain the corresponding first group of multi-satellite signals; and the first satellite signal in the first group of multi-satellite signals that matches the first satellite signal type of each of the interference and real simulation configurations in the current main control module configuration information is taken as the corresponding second and third satellite signals.

[0035] The first signal processing module performs signal encoding and parsing processing on each of the second and third satellite signals to obtain the corresponding second and third satellite parsing data, which is then output to the first main control module, and each of the second and third satellite signals is output to the first time synchronization module.

[0036] The first time synchronization module performs clock discipline processing on each of the second satellite signals to obtain the corresponding second satellite positioning time and second satellite clock frequency, and performs clock discipline processing on each of the third satellite signals to obtain the corresponding third satellite positioning time and third satellite clock frequency. The positioning times of each of the second and third satellites are output to the first main control module, and the clock frequencies of each of the second and third satellites are modulated based on preset offset parameters. The modulated clock frequencies are then used as the corresponding second and third satellite time and frequency references and output to the first signal simulation module.

[0037] The first main control module inputs the second satellite positioning time and second satellite parsing data corresponding to each second satellite signal into the corresponding simulation algorithm model for embedding set test errors to perform interference simulation signal parameter simulation processing to obtain the corresponding second simulation signal parameter set. The first main control module inputs the third satellite positioning time and third satellite parsing data corresponding to each third satellite signal into the corresponding simulation algorithm model to perform real simulation signal parameter simulation processing to obtain the corresponding third simulation signal parameter set. The third simulation signal parameter set is then processed according to the satellite signal encoding rules corresponding to each second and third satellite signal and the corresponding second and third simulation signal parameter sets. The obtained signal encoding is then output to the first signal simulation module as the corresponding second and third satellite simulation signal encoding.

[0038] The first signal simulation module generates simulation signals based on the second satellite time-frequency reference and the second satellite simulation signal encoding corresponding to each second satellite signal, as well as the currently configured set of simulation parameters. The obtained simulation signals are used as the corresponding interference satellite simulation signals. The module also generates simulation signals based on the third satellite time-frequency reference and the third satellite simulation signal encoding corresponding to each third satellite signal, as well as the currently configured set of simulation parameters. The obtained simulation signals are used as the corresponding real satellite simulation signals. The obtained interference and real satellite simulation signals are then output to the first power control module.

[0039] The first power control module performs signal gain regulation on each of the interference and real satellite simulation signals according to the simulation signal gain regulation parameters corresponding to various satellite signals in the currently configured power control parameter set to obtain the corresponding interference and real satellite simulation regulation signals. Then, it performs signal combining on all the obtained interference and real satellite simulation regulation signals to obtain the corresponding second combined signal. The second combined signal is then subjected to signal gain regulation on the second combined signal according to the simulation signal gain regulation parameters corresponding to the combined signal in the currently configured power control parameter set, and the obtained regulation signal is output to the first signal transmitting antenna as the corresponding multi-satellite test signal.

[0040] The multi-satellite test signal is then transmitted outward via the first signal transmitting antenna.

[0041] Preferably, the step of the first vehicle under test controlling vehicle driving based on the multi-satellite test signals and outputting a corresponding first relative displacement sequence specifically includes:

[0042] The first vehicle under test receives the multi-satellite test signals through the first signal receiving antenna; performs real-time satellite positioning analysis based on the received multi-satellite test signals; plans the vehicle's trajectory based on the satellite positioning analysis results and the preset end coordinates; and performs motion control on the vehicle based on the trajectory planning results.

[0043] During motion control, the lateral and longitudinal offsets of the vehicle relative to the first starting position are calculated in real time to generate the corresponding first lateral offset and first longitudinal offset, which together form the corresponding first relative displacement vector. All the first relative displacement vectors obtained at this time are sorted in chronological order to form the corresponding first relative displacement sequence.

[0044] Preferably, the step of deriving the corresponding first measured trajectory based on the latest first relative displacement sequence and the first starting coordinates specifically includes:

[0045] Initialize a second trajectory point coordinate sequence with empty content; add the first starting coordinate as the first second trajectory point coordinate to the second trajectory point coordinate sequence; use the latest first relative displacement sequence as the corresponding current relative displacement sequence; and use the first starting coordinate as the corresponding previous trajectory point coordinate; the second trajectory point coordinate sequence includes multiple second trajectory point coordinates;

[0046] The first relative displacement vector of the current relative displacement sequence is sequentially traversed; during traversal, the first relative displacement vector traversed is taken as the corresponding current relative displacement vector; the horizontal and vertical coordinates of the previous trajectory point coordinates are added to the corresponding first horizontal offset and first vertical offset in the current relative displacement vector to obtain the corresponding current horizontal coordinates and current vertical coordinates; the obtained current horizontal coordinates and current vertical coordinates are used to form new second trajectory point coordinates and added to the second trajectory point coordinate sequence; the new second trajectory point coordinates are taken as the new previous trajectory point coordinates; and the process continues to traverse the next first relative displacement vector of the current relative displacement sequence until the current relative displacement vector is the last first relative displacement vector of the current relative displacement sequence.

[0047] At the end of the traversal, the obtained sequence of coordinates of the second trajectory points is output as the corresponding first measured trajectory; the first measured trajectory includes the coordinates of multiple second trajectory points.

[0048] Preferably, the step of analyzing the positioning anti-interference capability of the first vehicle under test based on the first expected test trajectory and the first measured trajectory to obtain the corresponding first analysis result specifically includes:

[0049] The trajectory error is calculated for the first expected test trajectory and the first measured trajectory to generate a corresponding first trajectory error; and it is identified whether the first trajectory error meets the preset qualified error range; if it does, the corresponding first analysis result is set as qualified; if it does not, the corresponding first analysis result is set as unqualified.

[0050] A second aspect of the present invention provides an apparatus for implementing the processing method for testing unmanned delivery vehicles based on signal interference devices as described in the first aspect above. The apparatus includes: a test case receiving module, a test preprocessing module, a test execution module, and a test analysis module.

[0051] The test case receiving module is used to receive first test case data of a first vehicle under test; the first vehicle under test is an unmanned delivery vehicle; the first vehicle under test includes a first signal receiving antenna; the first vehicle under test is equipped with a corresponding first signal jamming device; the first signal jamming device is a satellite simulated signal simulation device; the first signal jamming device includes a first signal transmitting antenna; the first test case data includes a first test mode, a first test signal configuration, and a first expected test trajectory; the first test mode includes a simulated anti-interference mode, a simulated no-interference mode, and a real-world no-interference mode; the first expected test trajectory includes multiple first trajectory points; each first trajectory point corresponds to a first trajectory point coordinate; each first trajectory point coordinate is a real positioning coordinate within the test site.

[0052] The test preprocessing module is used to take the coordinates of the first and last points of the first trajectory of the first test expected trajectory as the corresponding first starting coordinates and first ending coordinates; and take the ground position of the test site corresponding to the first starting coordinates as the corresponding first starting position; and park the first vehicle under test at the first starting position; and perform equipment configuration processing on the first signal interference device according to the first test signal configuration; and perform antenna configuration processing on the first vehicle under test and the first signal interference device according to the first test mode; and set the preset ending coordinates of the first vehicle under test as the corresponding first ending coordinates; and set the first vehicle under test to stop when it reaches the preset ending coordinates in the future.

[0053] The test execution module is used to control the first vehicle under test to enter a driving state, driving from the first starting position to the ground position corresponding to the preset ending coordinates; and during the driving of the first vehicle under test, if the first test mode is a real-scene interference-free mode, the real satellite signal in the test site is used as the corresponding multi-satellite test signal; if the first test mode is a simulated anti-interference mode or a simulated interference-free mode, the first signal interference device performs test signal simulation processing to generate the corresponding multi-satellite test signal; and during the driving of the first vehicle under test, the first vehicle under test performs vehicle driving control according to the multi-satellite test signal and outputs the corresponding first relative displacement sequence; and when the first vehicle under test stops, the corresponding first measured trajectory is derived based on the latest first relative displacement sequence and the first starting coordinates.

[0054] The test analysis module is used to analyze the positioning anti-interference capability of the first vehicle under test based on the first expected test trajectory and the first measured trajectory to obtain the corresponding first analysis result; the first analysis result includes qualified and unqualified.

[0055] A third aspect of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;

[0056] The processor is used to couple with the memory, read and execute instructions in the memory to implement the steps of the method described in the first aspect above;

[0057] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0058] A fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a computer, cause the computer to perform the instructions described in the first aspect.

[0059] This invention provides a method, apparatus, electronic device, and computer-readable storage medium for testing unmanned delivery vehicles using a signal jamming device. It presents a signal jamming device that can be configured to simulate multi-satellite signals and offers three test modes: simulated anti-interference mode, simulated no-interference mode, and real-scene no-interference mode. In the simulated anti-interference mode, the signal jamming device generates a set of multi-satellite test signals (a deceptive signal obtained by embedding a set test error into the real satellite signals) based on the test configuration, and tests the anti-interference capability of the unmanned delivery vehicle's positioning function based on these multi-satellite test signals. In the simulated no-interference mode, the signal jamming device generates a set of multi-satellite test signals consisting entirely of real satellite signals based on the test configuration, and tests the anti-interference capability of the unmanned delivery vehicle's positioning function based on these multi-satellite test signals. In the real-scene no-interference mode, the anti-interference capability of the unmanned delivery vehicle's positioning function is tested based on real satellite signals from a real-world scenario. In each test mode, a pass / fail analysis is performed based on the error between the vehicle's measured trajectory and the expected test trajectory. This invention can provide a configurable multi-satellite test signal environment for the vehicle under test in any test site, and can fully test the vehicle under test based on different test modes and test configurations; this invention improves the sufficiency of testing the positioning function of unmanned delivery vehicles. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of a method for testing unmanned delivery vehicles based on signal interference equipment, provided in Embodiment 1 of the present invention.

[0061] Figure 2 This is a module structure diagram of the first signal jamming device provided in Embodiment 1 of the present invention;

[0062] Figure 3This is a module structure diagram of a processing device for testing unmanned delivery vehicles based on signal interference equipment, provided in Embodiment 2 of the present invention;

[0063] Figure 4 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0065] Embodiment 1 of the present invention provides a method for testing unmanned delivery vehicles based on signal interference equipment. The unmanned delivery vehicle test management system can improve the sufficiency of testing the positioning function of unmanned delivery vehicles through Embodiment 1 of the present invention. Figure 1 This is a schematic diagram of a method for testing unmanned delivery vehicles based on signal interference devices, provided in Embodiment 1 of the present invention. Figure 1 As shown, this method mainly includes the following steps:

[0066] Step 1: Receive the first test case data for the first vehicle under test;

[0067] The first test vehicle is an unmanned delivery vehicle; the first test vehicle includes a first signal receiving antenna; the first test vehicle is equipped with a corresponding first signal jamming device; the first signal jamming device is a satellite simulated signal simulation device; the first test case data includes a first test mode, a first test signal configuration, and a first test expected trajectory; the first test mode includes a simulated anti-interference mode, a simulated no-interference mode, and a real-world no-interference mode; the first test expected trajectory includes multiple first trajectory points; each first trajectory point corresponds to a first trajectory point coordinate; each first trajectory point coordinate is a real positioning coordinate within the test site; it should be noted that the unmanned delivery vehicle test management system of this embodiment can pre-set various complex multi-satellite signal scenarios for the first test vehicle, and configure the test case data of the first signal jamming device, i.e., the first test case data, based on the signal characteristics of each scenario; in each first test case data, the first test signal configuration is the configuration data of the first signal jamming device, and the first test expected trajectory is the ideal driving trajectory of the unmanned delivery vehicle after successfully and correctly anti-interference in the current scenario.

[0068] The module structure of the first signal jamming device in this embodiment of the invention is as follows: Figure 2The module structure diagram of the first signal jamming device provided in Embodiment 1 of the present invention shows that it includes: a second signal receiving antenna, a first signal processing module, a first time synchronization module, a first main control module, a first configuration module, a first signal simulation module, a first power control module, and a first signal transmitting antenna; wherein, the output terminal of the second signal receiving antenna is connected to the input terminal of the first signal simulation module; the output terminal of the first signal simulation module is connected to the input terminals of the first time synchronization module and the first main control module respectively; the output terminal of the first time synchronization module is connected to the input terminals of the first main control module and the first signal simulation module respectively; the output terminal of the first configuration module is connected to the input terminals of the first main control module, the first signal simulation module, and the first power control module respectively; the output terminal of the first main control module is connected to the input terminal of the first signal simulation module; the output terminal of the first signal simulation module is connected to the input terminal of the first power control module; and the output terminal of the first power control module is connected to the input terminal of the first signal transmitting antenna.

[0069] The first signal jamming device in this embodiment of the invention is used to configure the currently input test signal as the corresponding current test signal configuration through a first configuration module; wherein, the current test signal configuration includes main control module configuration information, signal simulation module configuration information, and power control module configuration information; the main control module configuration information includes multiple simulation algorithm model configurations; the simulation algorithm model configuration includes satellite signal type, algorithm model identifier, and algorithm model parameters; the satellite signal type includes BeiDou satellite signal, GPS satellite signal, GLONASS satellite signal, and Galileo satellite signal;

[0070] The first configuration module sets the association between the corresponding simulation algorithm model in the first main control module and the satellite signal type according to the configuration information of each simulation algorithm model in the main control module, configures the model parameters of the corresponding simulation algorithm model in the first main control module according to the configuration information of each simulation algorithm model, configures the preset simulation parameter set in the first signal simulation module according to the configuration information of the signal simulation module, and configures the preset power control parameter set in the first power control module according to the configuration information of the power control module.

[0071] The first signal jamming device in this embodiment of the invention is further configured to receive signals from multiple specified types of satellite signals through a second signal receiving antenna to obtain a corresponding first group of multi-satellite signals, and output each specified type of satellite signal in the first group of multi-satellite signals as a corresponding first satellite signal to the first signal processing module; wherein, the specified type of satellite signals include BeiDou satellite signals, GPS satellite signals, GLONASS satellite signals and Galileo satellite signals;

[0072] The first signal processing module performs signal encoding and parsing processing on each first satellite signal to obtain the corresponding first satellite parsing data, which is then output to the first main control module, and each first satellite signal is output to the first time synchronization module.

[0073] The first time synchronization module performs clock discipline processing on each first satellite signal to obtain the corresponding first satellite positioning time and first satellite clock frequency, outputs the first satellite positioning time to the first main control module, performs frequency offset modulation processing on the first satellite clock frequency based on the preset frequency offset parameters, and outputs the obtained modulated clock frequency as the corresponding first satellite time and frequency reference to the first signal simulation module.

[0074] The first main control module inputs the first satellite positioning time and first satellite parsing data corresponding to each first satellite signal into the corresponding simulation algorithm model to perform simulation signal parameter processing to obtain the corresponding first simulation signal parameter set. Then, according to the satellite signal encoding rules corresponding to the first satellite signal, the first simulation signal parameter set is used for signal encoding processing, and the obtained signal encoding is output to the first signal simulation module as the corresponding first satellite simulation signal encoding.

[0075] The first signal simulation module generates simulation signals based on the first satellite time-frequency reference and the first satellite simulation signal encoding corresponding to each first satellite signal, as well as the currently configured set of simulation parameters, and outputs the obtained simulation signals as the corresponding first satellite simulation signals to the first power control module.

[0076] The first power control module performs signal gain regulation on each first satellite simulation signal according to the simulation signal gain regulation parameters corresponding to various satellite signals in the currently configured power control parameter set to obtain the corresponding first satellite simulation regulation signal. Then, it performs signal combining on all the obtained first satellite simulation regulation signals to obtain the corresponding first combined signal. Finally, it performs signal gain regulation on the first combined signal according to the simulation signal gain regulation parameters corresponding to the combined signal in the currently configured power control parameter set and outputs the obtained regulation signal as the corresponding multi-satellite simulation signal to the first signal transmitting antenna.

[0077] The multi-satellite simulation signal is transmitted outward through the first signal transmitting antenna.

[0078] Step 2: Take the coordinates of the first and last first trajectory points of the first test expected trajectory as the corresponding first starting coordinates and first ending coordinates; and take the ground position of the test site corresponding to the first starting coordinates as the corresponding first starting position.

[0079] Step 3: Park the first vehicle under test at the first starting position; configure the first signal interference device according to the first test signal configuration; configure the antennas of the first vehicle under test and the first signal interference device according to the first test mode; set the preset end coordinates of the first vehicle under test to the corresponding first end coordinates; and set the first vehicle under test to stop when it reaches the preset end coordinates in the future.

[0080] Here, the current step is the preprocessing step before testing;

[0081] Specifically, this includes: Step 31, parking the first vehicle to be tested at the first starting position;

[0082] Step 32, and perform device configuration processing on the first signal interference device according to the first test signal configuration;

[0083] Specifically, this includes: step 321, configuring the first test signal into the first configuration module of the first signal interference device;

[0084] The first test signal configuration includes configuration information for the first main control module, configuration information for the first signal simulation module, and configuration information for the first power control module; the configuration information for the first main control module includes configuration information for multiple first simulation algorithm models; the configuration information for the first simulation algorithm models includes the first satellite signal type, the first algorithm model identifier, and the first algorithm model parameters; the first satellite signal type includes BeiDou satellite signal, GPS satellite signal, GLONASS satellite signal, and Galileo satellite signal.

[0085] Step 322: The first configuration module sets the correspondence between the corresponding simulation algorithm model and the satellite signal type in the first main control module according to the configuration information of the first main control module for each first simulation algorithm model, configures the model parameters of the corresponding simulation algorithm model in the first main control module according to the configuration information of each first simulation algorithm model, configures the preset simulation parameter set in the first signal simulation module according to the configuration information of the first signal simulation module, and configures the preset power control parameter set in the first power control module according to the configuration information of the first power control module.

[0086] Step 33, and perform antenna configuration processing on the first vehicle under test and the first signal interference device according to the first test mode;

[0087] Specifically, this includes: Step 331, if the first test mode is the real-scene interference-free mode, then the first signal receiving antenna of the first vehicle under test is exposed in the open space of the test site so that the first signal receiving antenna can receive real satellite signals; and the first signal interference device is shut down.

[0088] Step 332: If the first test mode is a simulated anti-interference mode or a simulated no-interference mode, then the first signal receiving antenna of the first vehicle under test and the first signal transmitting antenna of the first signal jamming device are placed in the same signal shielding device so that the first signal receiving antenna can only receive the transmitted signal of the first signal transmitting antenna, and the second signal receiving antenna of the first signal jamming device is exposed in the open space of the test site so that the second signal receiving antenna can receive real satellite signals; and the first signal jamming device is activated.

[0089] Here, there are multiple ways to implement placing the first signal receiving antenna and the first signal transmitting antenna within the same signal shielding device in this embodiment of the invention; one implementation is to connect both the first signal receiving antenna and the first signal transmitting antenna into a sealed device that can be used for external signal shielding; another implementation is to achieve the purpose of shielding external signals by directly connecting the first signal receiving antenna and the first signal transmitting antenna through a coaxial cable.

[0090] Step 34, and set the preset end coordinate of the first test vehicle to the corresponding first end coordinate; and set the first test vehicle to stop when it reaches the preset end coordinate in the future.

[0091] Step 4: Control the first vehicle under test to enter the driving state and drive from the first starting position to the ground position corresponding to the preset ending coordinates.

[0092] Here, the unmanned delivery vehicle test management system of this embodiment of the invention can switch the vehicle state of the first test vehicle from a stationary / parked state to the corresponding driving state by sending a state switching command to the first test vehicle. The technical implementation of the unmanned delivery vehicle, that is, the first test vehicle, moving from the first starting position to the ground position corresponding to the preset ending coordinate after entering the driving state is similar to the technical implementation of unmanned or autonomous driving vehicles in conventional unmanned or autonomous driving. It can be obtained by referring to the relevant published technical documents, and will not be further elaborated here.

[0093] Step 5: During the driving of the first vehicle under test, if the first test mode is the real-scene interference-free mode, the real satellite signal in the test site is used as the corresponding multi-satellite test signal; if the first test mode is the simulated anti-interference mode or the simulated interference-free mode, the first signal interference device performs test signal simulation processing to generate the corresponding multi-satellite test signal.

[0094] Here, the current step is to confirm or generate test signals under different multi-satellite signal scenarios, i.e., multi-satellite test signals, based on the first test mode;

[0095] Specifically, it includes: Step 51, if the first test mode is the real-scene interference-free mode, then the real satellite signal in the test site is used as the corresponding multi-satellite test signal;

[0096] In other words, in the first test mode, the embodiment of the present invention will use real satellite signals from the real scene as multi-satellite test signals when the first test mode is the real scene interference-free mode, and test the anti-interference capability of the unmanned delivery vehicle positioning function based on the high multi-satellite test signals;

[0097] Step 52: If the first test mode is a simulated anti-interference mode or a simulated non-interference mode, the first signal interference device will perform test signal simulation processing to generate the corresponding multi-satellite test signal.

[0098] Before explaining the current steps, the signal configuration of each first simulation algorithm model in the configuration information of the first main control module corresponding to the first test mode being simulated anti-interference mode or simulated no-interference mode, for real satellite signals and interfering satellite signals (deceptive signals obtained by implanting set test errors into real satellite signals) will be explained as follows:

[0099] When the first test mode is the simulated anti-interference mode, the corresponding configuration information of the first main control module includes X interference simulation configurations and Y real simulation configurations; where X and Y are integers greater than 0; the interference simulation configuration is a first simulation algorithm model configuration used to implant set test errors to simulate interference simulation signal parameters; the real simulation configuration is a first simulation algorithm model configuration used to simulate real simulation signal parameters; that is, in this embodiment of the invention, when the first test mode is the simulated anti-interference mode, the first signal interference device generates a set of multi-satellite test signals mixed with real satellite signals and interference satellite signals based on the test configuration, and tests the anti-interference capability of the unmanned delivery vehicle positioning function based on the multi-satellite test signals;

[0100] When the first test mode is the simulated interference-free mode, all the first simulation algorithm model configurations of the corresponding first main control module configuration information are real simulation configurations; that is, in the embodiment of the present invention, when the first test mode is the simulated interference-free mode, the first signal interference device generates a set of multi-satellite test signals that are all real satellite signals based on the test configuration, and tests the anti-interference capability of the unmanned delivery vehicle positioning function based on the multi-satellite test signals.

[0101] The specific steps for implementing step 52 include:

[0102] Step 521: When the first test mode is not the real-scene interference-free mode, the corresponding first main control module configuration information is used as the corresponding current main control module configuration information.

[0103] Step 522: The first signal jamming device receives signals from multiple specified types of satellite signals through the second signal receiving antenna to obtain the corresponding first group of multi-satellite signals; and the first satellite signal in the first group of multi-satellite signals that matches the first satellite signal type of each jamming and real simulation configuration in the current main control module configuration information is taken as the corresponding second and third satellite signals;

[0104] Step 523: The first signal processing module performs signal encoding and parsing processing on each of the second and third satellite signals to obtain the corresponding second and third satellite parsing data, which is then output to the first main control module, and each of the second and third satellite signals is output to the first time synchronization module.

[0105] Step 524: The first time synchronization module performs clock discipline processing on each second satellite signal to obtain the corresponding second satellite positioning time and second satellite clock frequency, and performs clock discipline processing on each third satellite signal to obtain the corresponding third satellite positioning time and third satellite clock frequency. The positioning times of each second and third satellite are output to the first main control module, and the clock frequencies of each second and third satellite are modulated based on preset offset parameters. The modulated clock frequencies are then output to the first signal simulation module as the corresponding second and third satellite time and frequency references.

[0106] Step 525: The first main control module inputs the second satellite positioning time and second satellite parsing data corresponding to each second satellite signal into the corresponding simulation algorithm model for embedding the set test error to perform interference simulation signal parameter simulation processing to obtain the corresponding second simulation signal parameter set. The first main control module inputs the third satellite positioning time and third satellite parsing data corresponding to each third satellite signal into the corresponding simulation algorithm model to perform real simulation signal parameter simulation processing to obtain the corresponding third simulation signal parameter set. The second and third satellite signals are encoded according to the satellite signal encoding rules corresponding to each second and third satellite signal and the corresponding second and third simulation signal parameter sets. The obtained signal encoding is output to the first signal simulation module as the corresponding second and third satellite simulation signal encoding.

[0107] Step 526: The first signal simulation module generates simulation signals based on the second satellite time-frequency reference and second satellite simulation signal encoding corresponding to each second satellite signal and the currently configured set of simulation parameters, and uses the obtained simulation signals as the corresponding interference satellite simulation signals. The module also generates simulation signals based on the third satellite time-frequency reference and third satellite simulation signal encoding corresponding to each third satellite signal and the currently configured set of simulation parameters, and uses the obtained simulation signals as the corresponding real satellite simulation signals. The obtained interference and real satellite simulation signals are then output to the first power control module.

[0108] Step 527: The first power control module performs signal gain regulation on each interference and real satellite simulation signal according to the simulation signal gain regulation parameters corresponding to various satellite signals in the currently configured power control parameter set to obtain the corresponding interference and real satellite simulation regulation signals. Then, the obtained interference and real satellite simulation regulation signals are combined to obtain the corresponding second combined signal. The second combined signal is then subjected to signal gain regulation according to the simulation signal gain regulation parameters corresponding to the combined signal in the currently configured power control parameter set, and the obtained regulation signal is output to the first signal transmitting antenna as the corresponding multi-satellite test signal.

[0109] Step 528, and transmit the multi-satellite test signal outward through the first signal transmitting antenna.

[0110] Step 6: During the driving process of the first vehicle under test, the first vehicle under test performs vehicle driving control based on multi-satellite test signals and outputs the corresponding first relative displacement sequence.

[0111] Specifically, it includes: step 61, in which the first vehicle under test receives multi-satellite test signals through the first signal receiving antenna; performs real-time satellite positioning analysis based on the received multi-satellite test signals; plans the vehicle's trajectory based on the satellite positioning analysis results and preset end coordinates; and performs motion control on the vehicle based on the trajectory planning results.

[0112] Here, the technical implementation of receiving satellite signals, performing positioning analysis, performing trajectory planning, and performing motion control during the driving process in this embodiment of the invention is similar to the technical implementation of conventional unmanned or autonomous vehicles. It can be obtained by referring to the relevant published technical documents, and will not be further elaborated here.

[0113] Step 62: During the motion control process, the lateral and longitudinal offsets of the vehicle relative to the first starting position are calculated in real time to generate the corresponding first lateral offset and first longitudinal offset to form the corresponding first relative displacement vector. All the first relative displacement vectors obtained at the moment are sorted in chronological order to form the corresponding first relative displacement sequence.

[0114] Step 7: When the first vehicle to be tested stops, the corresponding first measured trajectory is derived based on the latest first relative displacement sequence and the first starting coordinates.

[0115] Specifically, this includes: Step 71, initializing a second trajectory point coordinate sequence with empty content; adding the first starting coordinate as the first second trajectory point coordinate to the second trajectory point coordinate sequence; using the latest first relative displacement sequence as the corresponding current relative displacement sequence; and using the first starting coordinate as the corresponding previous trajectory point coordinate;

[0116] The second trajectory point coordinate sequence includes multiple second trajectory point coordinates;

[0117] Step 72: Iterate sequentially through the first relative displacement vector of the current relative displacement sequence; during the iteration, take the first relative displacement vector of the current iteration as the corresponding current relative displacement vector; and add the horizontal and vertical coordinates of the previous trajectory point coordinates to the corresponding first horizontal offset and first vertical offset in the current relative displacement vector to obtain the corresponding current horizontal coordinates and current vertical coordinates; and add the obtained current horizontal coordinates and current vertical coordinates to form a new second trajectory point coordinate sequence; and take the new second trajectory point coordinates as the new previous trajectory point coordinates; and continue iterating to the next first relative displacement vector of the current relative displacement sequence until the current relative displacement vector is the last first relative displacement vector of the current relative displacement sequence.

[0118] Step 73: At the end of the traversal, output the obtained second trajectory point coordinate sequence as the corresponding first measured trajectory.

[0119] The first measured trajectory includes the coordinates of multiple second trajectory points.

[0120] Step 8: Analyze the positioning anti-interference capability of the first test vehicle based on the first expected test trajectory and the first actual test trajectory to obtain the corresponding first analysis result;

[0121] The first analysis result includes qualified and unqualified results;

[0122] Specifically, this includes: calculating the trajectory error between the first expected test trajectory and the first measured trajectory to generate the corresponding first trajectory error; identifying whether the first trajectory error meets the preset acceptable error range; if it does, setting the corresponding first analysis result as acceptable; if it does not, setting the corresponding first analysis result as unacceptable.

[0123] Here, the embodiment of the present invention uses a conventional trajectory error algorithm to calculate the trajectory error between the first expected test trajectory and the first measured trajectory; the implementation of the conventional trajectory error algorithm can be obtained by referring to the relevant published technical documents, and will not be further described here.

[0124] Figure 3 This is a module structure diagram of a processing device for testing unmanned delivery vehicles based on signal interference equipment, provided in Embodiment 2 of the present invention. This device can be a terminal device or server implementing the aforementioned method embodiments, or it can be a device that enables the aforementioned terminal device or server to implement the aforementioned method embodiments. For example, the device can be a device or chip system of the aforementioned terminal device or server. Figure 3As shown, the device includes: a test case receiving module 201, a test preprocessing module 202, a test execution module 203, and a test analysis module 204.

[0125] The test case receiving module 201 is used to receive the first test case data of the first vehicle under test; the first vehicle under test is an unmanned delivery vehicle; the first vehicle under test includes a first signal receiving antenna; the first vehicle under test is equipped with a corresponding first signal jamming device; the first signal jamming device is a satellite simulated signal simulation device; the first signal jamming device includes a first signal transmitting antenna; the first test case data includes a first test mode, a first test signal configuration, and a first expected test trajectory; the first test mode includes a simulated anti-interference mode, a simulated no-interference mode, and a real-world no-interference mode; the first expected test trajectory includes multiple first trajectory points; each first trajectory point corresponds to a first trajectory point coordinate; the coordinates of each first trajectory point are the actual positioning coordinates within the test site.

[0126] The test preprocessing module 202 is used to take the coordinates of the first and last first trajectory points of the first expected test trajectory as the corresponding first starting coordinates and first ending coordinates; take the ground position of the test site corresponding to the first starting coordinates as the corresponding first starting position; park the first vehicle under test at the first starting position; perform equipment configuration processing on the first signal interference device according to the first test signal configuration; perform antenna configuration processing on the first vehicle under test and the first signal interference device according to the first test mode; set the preset ending coordinates of the first vehicle under test as the corresponding first ending coordinates; and set the first vehicle under test to stop when it reaches the preset ending coordinates in the future.

[0127] The test execution module 203 is used to control the first vehicle under test to enter the driving state and drive from the first starting position to the ground position corresponding to the preset ending coordinates; during the driving of the first vehicle under test, if the first test mode is the real scene interference-free mode, the real satellite signal in the test site is used as the corresponding multi-satellite test signal; if the first test mode is the simulated anti-interference mode or the simulated interference-free mode, the first signal interference device performs test signal simulation processing to generate the corresponding multi-satellite test signal; during the driving of the first vehicle under test, the first vehicle under test performs vehicle driving control according to the multi-satellite test signal and outputs the corresponding first relative displacement sequence; when the first vehicle under test stops, the corresponding first measured trajectory is derived by calculating the measured trajectory based on the latest first relative displacement sequence and the first starting coordinates.

[0128] The test analysis module 204 is used to analyze the positioning anti-interference capability of the first vehicle under test based on the first expected test trajectory and the first measured trajectory to obtain the corresponding first analysis result; the first analysis result includes qualified and unqualified.

[0129] The present invention provides a processing device for testing unmanned delivery vehicles based on signal interference equipment, which can execute the method steps in the above method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0130] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, the test case receiving module can be a separate processing element, or it can be integrated into a chip in the above device. Alternatively, it can be stored as program code in the memory of the above device, and called and executed by a processing element of the device. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0131] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-on-a-Chip (SOC).

[0132] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the foregoing method embodiments are generated. The computer described above can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The aforementioned computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the aforementioned computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, Bluetooth, microwave, etc.) means. The aforementioned computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that integrates one or more available media. The aforementioned available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0133] Figure 4 This is a schematic diagram of an electronic device provided in Embodiment 3 of the present invention. This electronic device can be a terminal device or server implementing the methods of the aforementioned embodiments, or it can be a terminal device or server connected to the aforementioned terminal device or server implementing the methods of the aforementioned embodiments. Figure 4 As shown, the electronic device may include: a processor 301 (e.g., CPU), a memory 302, and a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transmission and reception operations of the transceiver 303. The memory 302 may store various instructions for performing various processing functions and implementing the processing steps described in the foregoing embodiments. Preferably, the electronic device involved in the embodiments of the present invention further includes: a power supply 304, a system bus 305, and a communication port 306. The system bus 305 is used to realize communication connections between components. The communication port 306 is used for communication between the electronic device and other peripherals.

[0134] exist Figure 4The system bus 305 mentioned can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, it is represented by only one thick line in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). Memory may include Random Access Memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0135] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), graphics processing units (GPUs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0136] It should be noted that the embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when run on a computer, cause the computer to perform the methods and processes provided in the above embodiments.

[0137] This invention also provides a chip for executing instructions, which is used to perform the processing steps described in the foregoing method embodiments.

[0138] This invention provides a method, apparatus, electronic device, and computer-readable storage medium for testing unmanned delivery vehicles using a signal jamming device. It presents a signal jamming device that can be configured to simulate multi-satellite signals and offers three test modes: simulated anti-interference mode, simulated no-interference mode, and real-scene no-interference mode. In the simulated anti-interference mode, the signal jamming device generates a set of multi-satellite test signals (a deceptive signal obtained by embedding a set test error into the real satellite signals) based on the test configuration, and tests the anti-interference capability of the unmanned delivery vehicle's positioning function based on these multi-satellite test signals. In the simulated no-interference mode, the signal jamming device generates a set of multi-satellite test signals consisting entirely of real satellite signals based on the test configuration, and tests the anti-interference capability of the unmanned delivery vehicle's positioning function based on these multi-satellite test signals. In the real-scene no-interference mode, the anti-interference capability of the unmanned delivery vehicle's positioning function is tested based on real satellite signals from a real-world scenario. In each test mode, a pass / fail analysis is performed based on the error between the vehicle's measured trajectory and the expected test trajectory. This invention can provide a configurable multi-satellite test signal environment for the vehicle under test in any test site, and can fully test the vehicle under test based on different test modes and test configurations; this invention improves the sufficiency of testing the positioning function of unmanned delivery vehicles.

[0139] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0140] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0141] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for testing unmanned delivery vehicles based on signal interference equipment, characterized in that, The method includes: The system receives first test case data from a first vehicle under test; the first vehicle under test is an unmanned delivery vehicle; the first vehicle under test includes a first signal receiving antenna; the first vehicle under test is equipped with a corresponding first signal jamming device; the first signal jamming device is a satellite simulated signal simulation device; the first signal jamming device includes a first signal transmitting antenna; the first test case data includes a first test mode, a first test signal configuration, and a first expected test trajectory; the first test mode includes a simulated anti-interference mode, a simulated no-interference mode, and a real-world no-interference mode; the first expected test trajectory includes multiple first trajectory points; each first trajectory point corresponds to a first trajectory point coordinate; each first trajectory point coordinate is a real-world positioning coordinate within the test site. The coordinates of the first and last points of the first trajectory are taken as the corresponding first starting coordinates and first ending coordinates; and the ground position of the test site corresponding to the first starting coordinates is taken as the corresponding first starting position. The first vehicle under test is parked at the first starting position; the first signal interference device is configured according to the first test signal configuration; the first vehicle under test and the first signal interference device are configured according to the first test mode; the preset end coordinate of the first vehicle under test is set as the corresponding first end coordinate; and the first vehicle under test is set to stop when it reaches the preset end coordinate in the future. Control the first vehicle under test to enter a driving state and drive from the first starting position to the ground position corresponding to the preset ending coordinates; During the driving of the first vehicle under test, if the first test mode is the real-scene interference-free mode, the real satellite signal in the test site is used as the corresponding multi-satellite test signal; if the first test mode is the simulated anti-interference mode or the simulated interference-free mode, the first signal interference device performs test signal simulation processing to generate the corresponding multi-satellite test signal. During the driving process of the first vehicle under test, the first vehicle under test performs vehicle driving control based on the multi-satellite test signals and outputs the corresponding first relative displacement sequence; When the first vehicle under test stops, the corresponding first measured trajectory is derived by calculating the measured trajectory based on the latest first relative displacement sequence and the first starting coordinates. The positioning anti-interference capability of the first test vehicle is analyzed based on the first expected test trajectory and the first actual test trajectory to obtain the corresponding first analysis result; the first analysis result includes qualified and unqualified.

2. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 1, characterized in that, The first signal jamming device includes a second signal receiving antenna, a first signal processing module, a first time synchronization module, a first main control module, a first configuration module, a first signal simulation module, a first power control module, and the first signal transmitting antenna; The output terminal of the second signal receiving antenna is connected to the input terminal of the first signal simulation module; the output terminal of the first signal simulation module is connected to the input terminals of the first time synchronization module and the first main control module respectively; the output terminal of the first time synchronization module is connected to the input terminals of the first main control module and the first signal simulation module respectively; the output terminal of the first configuration module is connected to the input terminals of the first main control module, the first signal simulation module and the first power control module respectively; the output terminal of the first main control module is connected to the input terminal of the first signal simulation module; the output terminal of the first signal simulation module is connected to the input terminal of the first power control module; the output terminal of the first power control module is connected to the input terminal of the first signal transmitting antenna.

3. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 2, characterized in that, The first signal jamming device is used to configure the currently input test signal as the corresponding current test signal configuration through the first configuration module; the current test signal configuration includes main control module configuration information, signal simulation module configuration information, and power control module configuration information; the main control module configuration information includes multiple simulation algorithm model configurations; the simulation algorithm model configuration includes satellite signal type, algorithm model identifier, and algorithm model parameters; the satellite signal type includes BeiDou satellite signal, GPS satellite signal, GLONASS satellite signal, and Galileo satellite signal; The first configuration module sets the association between the corresponding simulation algorithm model in the first main control module and the satellite signal type according to the configuration of each simulation algorithm model in the main control module configuration information, configures the model parameters of the corresponding simulation algorithm model in the first main control module according to the configuration of each simulation algorithm model, configures the preset simulation parameter set in the first signal simulation module according to the configuration information of the signal simulation module, and configures the preset power control parameter set in the first power control module according to the configuration information of the power control module. The first signal jamming device is further configured to receive signals from multiple specified types of satellite signals through the second signal receiving antenna to obtain a corresponding first group of multi-satellite signals, and output each specified type of satellite signal in the first group of multi-satellite signals as a corresponding first satellite signal to the first signal processing module; the specified type of satellite signals include BeiDou satellite signals, GPS satellite signals, GLONASS satellite signals and Galileo satellite signals; The first signal processing module performs signal encoding and parsing processing on each of the first satellite signals to obtain corresponding first satellite parsing data, which is then output to the first main control module, and each of the first satellite signals is output to the first time synchronization module. The first time synchronization module performs clock discipline processing on each of the first satellite signals to obtain the corresponding first satellite positioning time and first satellite clock frequency, outputs the first satellite positioning time to the first main control module, performs frequency offset modulation processing on the first satellite clock frequency based on preset frequency offset parameters, and outputs the obtained modulated clock frequency as the corresponding first satellite time and frequency reference to the first signal simulation module. The first main control module inputs the first satellite positioning time and the first satellite parsing data corresponding to each first satellite signal into the corresponding simulation algorithm model to perform simulation signal parameter processing to obtain the corresponding first simulation signal parameter set. Then, according to the satellite signal encoding rules corresponding to the first satellite signal, the first simulation signal parameter set is used for signal encoding processing, and the obtained signal encoding is output to the first signal simulation module as the corresponding first satellite simulation signal encoding. The first signal simulation module generates simulation signals based on the first satellite time-frequency reference corresponding to each first satellite signal, the first satellite simulation signal encoding, and the currently configured set of simulation parameters, and outputs the resulting simulation signals as the corresponding first satellite simulation signals to the first power control module. The first power control module performs signal gain regulation on each of the first satellite simulation signals according to the simulation signal gain regulation parameters corresponding to various satellite signals in the currently configured power control parameter set to obtain the corresponding first satellite simulation regulation signal. Then, it performs signal combining on all the obtained first satellite simulation regulation signals to obtain the corresponding first combined signal. Finally, it performs signal gain regulation on the first combined signal according to the simulation signal gain regulation parameters corresponding to the combined signal in the currently configured power control parameter set and outputs the obtained regulation signal as the corresponding multi-satellite simulation signal to the first signal transmitting antenna. The multi-satellite simulation signal is then transmitted outward via the first signal transmitting antenna.

4. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 3, characterized in that, The step of configuring the first signal interference device according to the first test signal specifically includes: The first test signal configuration is input into the first configuration module of the first signal interference device; the first test signal configuration includes configuration information of the first main control module, configuration information of the first signal simulation module, and configuration information of the first power control module; the configuration information of the first main control module includes multiple configurations of the first simulation algorithm model; the configuration of the first simulation algorithm model includes the first satellite signal type, the first algorithm model identifier, and the first algorithm model parameters; the first satellite signal type includes BeiDou satellite signal, GPS satellite signal, GLONASS satellite signal, and Galileo satellite signal; The first configuration module sets the correspondence between the simulation algorithm model and the satellite signal type in the first main control module according to the configuration information of the first main control module for each of the first simulation algorithm models. It also configures the model parameters of the simulation algorithm model in the first main control module according to the configuration information of each of the first simulation algorithm models. Furthermore, it configures the preset set of simulation parameters in the first signal simulation module according to the configuration information of the first signal simulation module. Finally, it configures the preset set of power control parameters in the first power control module according to the configuration information of the first power control module.

5. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 2, characterized in that, The antenna configuration processing for the first vehicle under test and the first signal interference device according to the first test mode specifically includes: If the first test mode is the real-scene interference-free mode, then the first signal receiving antenna of the first vehicle under test is exposed in the open space of the test site so that the first signal receiving antenna can receive real satellite signals; and the first signal interference device is shut down. If the first test mode is a simulated anti-interference mode or a simulated no-interference mode, then the first signal receiving antenna of the first vehicle under test and the first signal transmitting antenna of the first signal jamming device are placed in the same signal shielding device so that the first signal receiving antenna can only receive the transmitted signal of the first signal transmitting antenna, and the second signal receiving antenna of the first signal jamming device is exposed in the open space of the test site so that the second signal receiving antenna can receive real satellite signals; and the first signal jamming device is activated.

6. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 4, characterized in that, When the first test mode is the simulated anti-interference mode, the corresponding configuration information of the first main control module includes X interference simulation configurations and Y real simulation configurations; X and Y are integers greater than 0; the interference simulation configuration is the configuration of the first simulation algorithm model used to simulate interference simulation signal parameters by implanting a set test error; the real simulation configuration is the configuration of the first simulation algorithm model used to simulate real simulation signal parameters. When the first test mode is the simulated non-interference mode, all the first simulation algorithm model configurations in the corresponding first main control module configuration information are the actual simulation configurations.

7. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 6, characterized in that, If the first test mode is a simulated anti-interference mode or a simulated no-interference mode, then the first signal interference device performs test signal simulation processing to generate the corresponding multi-satellite test signal, specifically including: When the first test mode is not the real-scene interference-free mode, the corresponding configuration information of the first main control module will be used as the corresponding current main control module configuration information. The first signal jamming device receives signals from multiple satellite signals of the specified type through the second signal receiving antenna to obtain the corresponding first group of multi-satellite signals; and the first satellite signal in the first group of multi-satellite signals that matches the first satellite signal type of each of the interference and real simulation configurations in the current main control module configuration information is taken as the corresponding second and third satellite signals. The first signal processing module performs signal encoding and parsing processing on each of the second and third satellite signals to obtain the corresponding second and third satellite parsing data, which is then output to the first main control module, and each of the second and third satellite signals is output to the first time synchronization module. The first time synchronization module performs clock discipline processing on each of the second satellite signals to obtain the corresponding second satellite positioning time and second satellite clock frequency, and performs clock discipline processing on each of the third satellite signals to obtain the corresponding third satellite positioning time and third satellite clock frequency. The positioning times of each of the second and third satellites are output to the first main control module, and the clock frequencies of each of the second and third satellites are modulated based on preset offset parameters. The modulated clock frequencies are then used as the corresponding second and third satellite time and frequency references and output to the first signal simulation module. The first main control module inputs the second satellite positioning time and second satellite parsing data corresponding to each second satellite signal into the corresponding simulation algorithm model for embedding set test errors to perform interference simulation signal parameter simulation processing to obtain the corresponding second simulation signal parameter set. The first main control module inputs the third satellite positioning time and third satellite parsing data corresponding to each third satellite signal into the corresponding simulation algorithm model to perform real simulation signal parameter simulation processing to obtain the corresponding third simulation signal parameter set. The third simulation signal parameter set is then processed according to the satellite signal encoding rules corresponding to each second and third satellite signal and the corresponding second and third simulation signal parameter sets. The obtained signal encoding is then output to the first signal simulation module as the corresponding second and third satellite simulation signal encoding. The first signal simulation module generates simulation signals based on the second satellite time-frequency reference and the second satellite simulation signal encoding corresponding to each second satellite signal, as well as the currently configured set of simulation parameters. The obtained simulation signals are used as the corresponding interference satellite simulation signals. The module also generates simulation signals based on the third satellite time-frequency reference and the third satellite simulation signal encoding corresponding to each third satellite signal, as well as the currently configured set of simulation parameters. The obtained simulation signals are used as the corresponding real satellite simulation signals. The obtained interference and real satellite simulation signals are then output to the first power control module. The first power control module performs signal gain regulation on each of the interference and real satellite simulation signals according to the simulation signal gain regulation parameters corresponding to various satellite signals in the currently configured power control parameter set to obtain the corresponding interference and real satellite simulation regulation signals. Then, it performs signal combining on all the obtained interference and real satellite simulation regulation signals to obtain the corresponding second combined signal. The second combined signal is then subjected to signal gain regulation on the second combined signal according to the simulation signal gain regulation parameters corresponding to the combined signal in the currently configured power control parameter set, and the obtained regulation signal is output to the first signal transmitting antenna as the corresponding multi-satellite test signal. The multi-satellite test signal is then transmitted outward via the first signal transmitting antenna.

8. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 1, characterized in that, The step of the first vehicle under test controlling vehicle movement based on the multi-satellite test signals and outputting a corresponding first relative displacement sequence specifically includes: The first vehicle under test receives the multi-satellite test signals through the first signal receiving antenna; performs real-time satellite positioning analysis based on the received multi-satellite test signals; plans the vehicle's trajectory based on the satellite positioning analysis results and the preset end coordinates; and performs motion control on the vehicle based on the trajectory planning results. During motion control, the lateral and longitudinal offsets of the vehicle relative to the first starting position are calculated in real time to generate the corresponding first lateral offset and first longitudinal offset, which together form the corresponding first relative displacement vector. All the first relative displacement vectors obtained at this time are sorted in chronological order to form the corresponding first relative displacement sequence.

9. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 8, characterized in that, The step of deriving the corresponding first measured trajectory based on the latest first relative displacement sequence and the first starting coordinates specifically includes: Initialize a second trajectory point coordinate sequence with empty content; add the first starting coordinate as the first second trajectory point coordinate to the second trajectory point coordinate sequence; use the latest first relative displacement sequence as the corresponding current relative displacement sequence; and use the first starting coordinate as the corresponding previous trajectory point coordinate; the second trajectory point coordinate sequence includes multiple second trajectory point coordinates; The first relative displacement vector of the current relative displacement sequence is sequentially traversed; during traversal, the first relative displacement vector traversed is taken as the corresponding current relative displacement vector; the horizontal and vertical coordinates of the previous trajectory point coordinates are added to the corresponding first horizontal offset and first vertical offset in the current relative displacement vector to obtain the corresponding current horizontal coordinates and current vertical coordinates; the obtained current horizontal coordinates and current vertical coordinates are used to form new second trajectory point coordinates and added to the second trajectory point coordinate sequence; the new second trajectory point coordinates are taken as the new previous trajectory point coordinates; and the process continues to traverse the next first relative displacement vector of the current relative displacement sequence until the current relative displacement vector is the last first relative displacement vector of the current relative displacement sequence. At the end of the traversal, the obtained sequence of coordinates of the second trajectory points is output as the corresponding first measured trajectory; the first measured trajectory includes the coordinates of multiple second trajectory points.

10. The method for testing unmanned delivery vehicles based on signal interference devices according to claim 1, characterized in that, The step of analyzing the positioning anti-interference capability of the first vehicle under test based on the first expected test trajectory and the first measured trajectory to obtain the corresponding first analysis result specifically includes: The trajectory error is calculated for the first expected test trajectory and the first measured trajectory to generate a corresponding first trajectory error; and it is identified whether the first trajectory error meets the preset qualified error range; if it does, the corresponding first analysis result is set as qualified; if it does not, the corresponding first analysis result is set as unqualified.

11. An apparatus for performing the processing method for testing unmanned delivery vehicles based on signal interference devices as described in any one of claims 1-10, characterized in that, The device includes: a test case receiving module, a test preprocessing module, a test execution module, and a test analysis module; The test case receiving module is used to receive first test case data of a first vehicle under test; the first vehicle under test is an unmanned delivery vehicle; the first vehicle under test includes a first signal receiving antenna; the first vehicle under test is equipped with a corresponding first signal jamming device; the first signal jamming device is a satellite simulated signal simulation device; the first signal jamming device includes a first signal transmitting antenna; the first test case data includes a first test mode, a first test signal configuration, and a first expected test trajectory; the first test mode includes a simulated anti-interference mode, a simulated no-interference mode, and a real-world no-interference mode; the first expected test trajectory includes multiple first trajectory points; each first trajectory point corresponds to a first trajectory point coordinate; each first trajectory point coordinate is a real positioning coordinate within the test site. The test preprocessing module is used to take the coordinates of the first and last points of the first trajectory of the first test expected trajectory as the corresponding first starting coordinates and first ending coordinates; and take the ground position of the test site corresponding to the first starting coordinates as the corresponding first starting position; and park the first vehicle under test at the first starting position; and perform equipment configuration processing on the first signal interference device according to the first test signal configuration; and perform antenna configuration processing on the first vehicle under test and the first signal interference device according to the first test mode; and set the preset ending coordinates of the first vehicle under test as the corresponding first ending coordinates; and set the first vehicle under test to stop when it reaches the preset ending coordinates in the future. The test execution module is used to control the first vehicle under test to enter a driving state, driving from the first starting position to the ground position corresponding to the preset ending coordinates; and during the driving of the first vehicle under test, if the first test mode is a real-scene interference-free mode, the real satellite signal in the test site is used as the corresponding multi-satellite test signal; if the first test mode is a simulated anti-interference mode or a simulated interference-free mode, the first signal interference device performs test signal simulation processing to generate the corresponding multi-satellite test signal; and during the driving of the first vehicle under test, the first vehicle under test performs vehicle driving control according to the multi-satellite test signal and outputs the corresponding first relative displacement sequence; and when the first vehicle under test stops, the corresponding first measured trajectory is derived based on the latest first relative displacement sequence and the first starting coordinates. The test analysis module is used to analyze the positioning anti-interference capability of the first vehicle under test based on the first expected test trajectory and the first measured trajectory to obtain the corresponding first analysis result; the first analysis result includes qualified and unqualified.

12. An electronic device, characterized in that, include: Memory, processor, and transceiver; The processor is configured to be coupled to the memory, read and execute instructions in the memory to implement the method according to any one of claims 1-10; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a computer, cause the computer to perform the method described in any one of claims 1-10.

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