A HUD controller simulation test system and method based on VTD

Abstract

The application is suitable for the field of automobile auxiliary driving technology, and provides a HUD controller simulation test system based on VTD, which comprises a HUD controller, a graphic workstation, an upper computer system and a real-time system; the HUD controller is a real test piece; the upper computer system comprises a test management module, a dynamics module and an acquisition monitoring module; the graphic workstation is an Ubuntu system-based workstation, and the VTD simulation platform is configured in the workstation; the real-time system module comprises a real-time processor, a bus communication module and a power supply simulation module. The system and method can effectively save test cost, have high flexibility, good safety, high repeatability, high time efficiency and comprehensive test conditions.

Description

Technical Field

[0001] This invention belongs to the field of automotive driver assistance technology, and particularly relates to a simulation test system and method for a HUD controller based on VTD. Background Technology

[0002] HUD (Head-Up Display) technology is a technology that projects information into a user's field of vision, allowing them to access relevant information without taking their eyes off the road. HUD technology was first used in military aircraft, projecting flight data onto the pilot's helmet or windshield, allowing the pilot to simultaneously see the aircraft's status and the external environment. With technological advancements, HUD technology has gradually been applied to the automotive industry. In automotive HUD systems, information is typically presented to the driver through a transparent display projected onto the windshield. This information may include vehicle speed, navigation instructions, safety warnings, and telephone calls. Drivers can access this information directly without taking their eyes off the road, improving driving safety and convenience.

[0003] Currently, HUD patents in the automotive field mainly fall into the following categories: Regarding the hardware structure of automotive HUDs, Beijing Jingwei Hengrun Technology Co., Ltd.'s "HUD-based Assisted Driving System" describes the components of the HUD assisted driving system and the connection structure between them. The system mainly consists of a domain controller, HUD, DMS camera, ADAS camera, and in-vehicle sensors. Regarding HUD control methods, Great Wall Motor Co., Ltd.'s "HUD Control Method, System, Device, and Vehicle" optimizes and adjusts the HUD display strategy by analyzing vehicle speed information, achieving differentiated control of the HUD's operating status at different vehicle speeds, improving both HUD display flexibility and driving safety. Regarding HUD height adjustment, Hainan Yile IoT Technology Co., Ltd.'s "HUD System Based on Multi-Angle Intelligent Adjustment and Adaptation Height" describes a HUD system based on multi-angle intelligent adjustment and adaptation to the viewing height. The system comprises a HUD display, an in-vehicle camera module, an analysis and calculation module, an adjustment module, and a storage module. This system can automatically adjust the HUD base knob and the curvature of the curved screen extension according to the driver's height, allowing the HUD display to be placed in a comfortable position. Currently, most HUD testing involves physical testing of the HUD controller. The patent "Camera Calibration Equipment and Method for Testing Automotive HUD Instruments" published by Shanghai Visteon Automotive Electronics Systems Co., Ltd. describes a camera calibration device consisting of three calibration boards used in physical HUD testing. The patent "Windshield Mounting Fixture and HUD Testing System" published by Shanghai Sirui Testing Technology Co., Ltd. describes a HUD hardware testing system and a windshield mounting fixture system for HUD testing purposes. The windshield mounting fixture includes a mounting plate, support components, and centering adjustment and centering calibration components.

[0004] In the field of HUD testing technology, there is still a gap in virtual simulation testing for HUD controllers, while existing HUD testing technologies are mainly based on fixed equipment, which has poor flexibility. Summary of the Invention

[0005] The purpose of this invention is to provide a VTD-based HUD controller simulation test system and method, which aims to solve the problems mentioned in the background art.

[0006] The present invention is implemented as follows: a VTD-based HUD controller simulation test system includes a HUD controller, a graphics workstation, a host computer system, and a real-time system.

[0007] The HUD controller is a real device under test;

[0008] The host computer system includes a test management module, a dynamics module, and a data acquisition and monitoring module. The test management module tests the HUD controller by running the scenario library used in the HUD test process through vTESTstudio software, analyzes and evaluates the results of the automated test, and finally outputs a simulation test report. The dynamics module is supported by DNYA4 software and interacts with data through the API interface of the VTD simulation platform. The data acquisition and monitoring module is used for data acquisition, data synchronization, and test monitoring.

[0009] The graphics workstation is an Ubuntu-based workstation, and the VTD simulation platform is configured in the workstation. The VTD simulation platform is connected to and interacts with the HUD controller to provide the HUD controller with simulation information such as weather rendering, traffic participants, and navigation routes built in the virtual simulation world. The VTD simulation platform also interacts with the test management module, dynamics module, and data acquisition and monitoring module in the host computer system to support the needs of automated testing.

[0010] The real-time system module includes a real-time processor, a bus communication module, and a power simulation module. The real-time processor is used to ensure the real-time performance of the system, the power simulation module is used to ensure the power supply of the HUD controller, and the bus communication module is used to exchange and call data between the HUD controller and the vehicle system signals, ADAS signals, and navigation signals in the system.

[0011] Another objective of this invention is to provide a VTD-based HUD controller simulation and testing method, based on the aforementioned VTD-based HUD controller simulation and testing system, comprising the following steps:

[0012] Step 1: Starting from receiving VTD data from the host computer system, analyze the system's data stream;

[0013] Step 2: The SoftECU model built based on CANoe outputs driver and vehicle pose information after calculation, and transmits the driver and vehicle pose information to the DYNA4 dynamics platform in the dynamics module. The dynamics platform performs calculations on the vehicle pose information of the simulated vehicle and transmits the results output by the dynamics platform to the VTD data interface. At the same time, the dynamics platform also transmits the calculated vehicle pose information to the SoftECU for data communication.

[0014] Step 3: The SoftECU outputs the calculated navigation information, ADAS information, ADAS sensor noise, and GPS_IMU noise to the HUD controller through the IO model in the DYNA4 dynamics platform. It connects the HUD controller to the vehicle ETH and vehicle CAN data channels. After receiving the data, the HUD controller will process the output image and output the generated image to the decoding module for HDMI transcoding.

[0015] Step 4: The decoded HUD controller outputs data to the acquisition card in the graphics workstation. The VTD internally reads the data received from the acquisition card, stores it in shared memory, and performs operations such as Symbol mapping. The VTD simulation platform calls the dedicated test scene library for HUD, and the graphics workstation overlays and fuses the HUD output image with the VTD simulation image. Finally, the sensor information, navigation model, driver information, and vehicle information calculated in the VTD are packaged and output to the host computer system, completing the closed loop of the HUD tester's simulation data.

[0016] In a further technical solution, step 1 includes the following specific steps:

[0017] The VTD data is sent to the CANoe platform in the host computer system. The VTD data is unpacked and decoded to obtain the data required for HUD simulation testing. Then, it is transmitted to the SoftECU built on the CANoe platform to calculate and analyze the GPS_IMU noise, ADAS function, navigation function, and ADAS_Sensor noise.

[0018] In a further technical solution, in step 2, the vehicle pose information includes information such as yaw, pitch, roll, longitudinal velocity, and lateral velocity.

[0019] In a further technical solution, in step 4, the scene library includes road information, lane line information, intersection information, road elevation information, and street views on both sides of the road.

[0020] Further technical solutions involve the following steps in the data flow interaction between the vTESTstudio software and its various components:

[0021] Step 1: The vTESTstudio automated testing platform sends commands to the VTD simulation platform, and calls the VTD simulation platform according to the function commands in vTESTstudio;

[0022] Step 2: After receiving the call command from vTESTstudio, the VTD simulation platform performs calculations and outputs the modeled scene.

[0023] Step 3: vTESTstudio outputs the configured test cases to the CANoe platform;

[0024] Step 4: The CANoe platform outputs the test environment to the vTESTstudio automated testing platform.

[0025] Step 5: The CANoe platform outputs lane lines, target information, and status signals, etc., to the HUD controller under test, providing the HUD controller with the input information required by the HUD controller for internal calculations.

[0026] Step 6: The HUD controller transmits the information output after calculation to the VTD simulation platform;

[0027] Step 7: The CANoe platform transmits the four-wheel contact information, throttle status information, and braking status information from the VTD simulation platform to the DYNA4 dynamics platform for calculation.

[0028] Step 8: The DYNA4 dynamics software transmits the calculated vehicle pose information for the next frame to the CANoe platform;

[0029] Step 9: Communication between the CANoe platform and the VTD simulation platform: The CANoe platform sends the instructions from the SoftECU to the VTD simulation platform, while the VTD simulation platform summarizes the driver information and sensor information and transmits it to the CANoe platform.

[0030] Step 10: The VTD simulation platform outputs the simulated images and videos to the outside world;

[0031] Step 11: The CANoe platform outputs the source files, test reports, and execution logs for automated testing.

[0032] The present invention provides a VTD-based HUD controller simulation and testing system and method, the beneficial effects of which are as follows:

[0033] (1) Save testing costs: Testing HUD controllers based on the VTD simulation environment is much cheaper than building an actual HUD test bench and equipment. After the test environment is set up, the HUD test device can be fully tested by simply replacing it.

[0034] (2) High flexibility: The testing of HUD based on the VTD simulation environment can change the weather rendering of VTD to test the HUD display effect under various weather conditions such as sunny, rainy and snowy days. Moreover, thanks to the powerful functions of the VTD simulation environment, traffic flow can be formed at a certain distance around the target vehicle, and traffic participants such as pedestrians, cars and trucks can be added. Compared with the fixed bench test in the laboratory environment, it has great flexibility.

[0035] (3) Safety: If the current real bench test scheme wants to conduct road tests on the HUD controller, it is necessary to install the HUD controller in a real vehicle, which will have certain potential safety risks. The VTD simulation scheme can avoid this danger well.

[0036] (4) High repeatability: Based on the VTD simulation environment, the test can be 100% repeatable. Only the same configuration of the weather, traffic participants, vehicle speed and driving route in the simulation environment is required to achieve the same test environment.

[0037] (5) High time efficiency: The testing of HUD controllers using the VTD simulation environment can be carried out around the clock by automated testing software, and the test results can be automatically recorded and scored, which can support more efficient development of HUD controllers.

[0038] (6) Comprehensive test conditions: Compared with the real test bench, there are more test conditions. Based on the powerful functions of the VTD simulation platform, different road conditions can be set to test the output logic of HUD, including the testing of functions such as branch road indication display, roundabout road navigation display and uphill and downhill road display. Moreover, more comprehensive test data can be obtained through parameter control in a certain major test scenario, so as to achieve comprehensive control of HUD controller. Attached Figure Description

[0039] Figure 1 A schematic diagram of a VTD-based HUD controller simulation test system provided in this embodiment of the invention;

[0040] Figure 2 A flowchart of a VTD-based HUD controller simulation test method provided in this embodiment of the invention;

[0041] Figure 3 This is a diagram illustrating the data flow and interaction information between the vTESTstudio software and its various components. Detailed Implementation

[0042] 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 and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0043] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0044] like Figure 1 As shown, a VTD-based HUD controller simulation test system is provided in one embodiment of the present invention, including a HUD controller, a graphics workstation, a host computer system, and a real-time system;

[0045] The HUD controller is a real device under test;

[0046] The host computer system includes a test management module, a dynamics module, and a data acquisition and monitoring module. The host computer is a Windows-based workstation. The test management module tests the HUD controller by running the scenario library used in the HUD test process through vTESTstudio software, analyzes and evaluates the results of the automated test, and finally outputs a simulation test report. The dynamics module is supported by DNYA4 software and interacts with data through the API interface of the VTD simulation platform to provide more realistic dynamic data. The data acquisition and monitoring module is used for data acquisition, data synchronization, and test monitoring.

[0047] The graphics workstation is a high-performance workstation based on the Ubuntu system, and the VTD simulation platform is configured on this workstation. VTD is a widely used automotive simulation software, mainly used to simulate and evaluate vehicle driving behavior, vehicle dynamics, traffic conditions, and various environmental conditions, and can test and evaluate vehicle performance. The VTD simulation platform connects to and interacts with the HUD controller, providing the HUD controller with simulation information such as weather rendering, traffic participants, and navigation routes built in the virtual simulation world. Furthermore, the VTD simulation platform also interacts with the test management module, dynamics module, and data acquisition and monitoring module in the host computer system to support the needs of automated testing.

[0048] The real-time system module includes a real-time processor, a bus communication module, and a power simulation module. The real-time processor is used to ensure the real-time performance of the system, the power simulation module is used to ensure the power supply of the HUD controller, and the bus communication module is used to exchange and call data between the HUD controller and the vehicle system signals, ADAS signals, and navigation signals in the system.

[0049] In this embodiment of the invention, the real-time platform used by the system is the German Vector product, the host computer is CANoe, the slave computer is VT System, the vehicle dynamics DYNA4 is used, and the automated testing software vTestStudio is used.

[0050] like Figure 2 As shown, an embodiment of the present invention provides a VTD-based HUD controller simulation test method, which, based on the above-described VTD-based HUD controller simulation test system, includes the following steps:

[0051] Step 1: Starting with receiving VTD data from the host computer system, the system's data stream is analyzed. The VTD data is sent to the CANoe platform in the host computer system, and the VTD data is unpacked and decoded to obtain the data required for HUD simulation testing. This data is then further transmitted to the SoftECU built on the CANoe platform to calculate and analyze GPS_IMU noise, ADAS function, navigation function, and ADAS_Sensor noise.

[0052] Step 2: The SoftECU model built based on CANoe outputs driver and vehicle pose information after calculation, and transmits the driver and vehicle pose information to the DYNA4 dynamics platform in the dynamics module. The dynamics platform performs calculations on the vehicle pose information of the simulated vehicle and transmits the results output by the dynamics platform to the VTD data interface. At the same time, the dynamics platform also transmits the calculated vehicle pose information to the SoftECU for data communication.

[0053] Step 3: The SoftECU outputs the calculated navigation information, ADAS information, ADAS sensor noise, and GPS_IMU noise to the HUD controller through the IO model in the DYNA4 dynamics platform. It connects the HUD controller to the vehicle ETH and vehicle CAN data channels. After receiving the data, the HUD controller will process the output image and output the generated image to the decoding module for HDMI transcoding.

[0054] Step 4: The decoded HUD controller outputs data to the acquisition card in the graphics workstation. Internally, the VTD reads the data received from the acquisition card, stores it in shared memory (SHM), and performs symbol mapping operations. The VTD simulation platform calls a dedicated test scene library for the HUD, which includes road information, lane line information, intersection information, road pitch information, and street scenes on both sides of the road. The graphics workstation overlays and fuses the HUD output image with the VTD simulation image. Finally, the sensor information, navigation model, driver information, and vehicle information calculated in the VTD are packaged and output to the host computer system, completing the closed loop of the HUD tester's simulation data.

[0055] like Figure 3 As shown, in a preferred embodiment of the present invention, the data flow interaction information between the vTESTstudio software and each component includes the following steps:

[0056] Step 1: The vTESTstudio automated testing platform sends commands to the VTD simulation platform, and calls the VTD simulation platform according to the function commands in vTESTstudio;

[0057] Step 2: After receiving the call command from vTESTstudio, the VTD simulation platform performs calculations and outputs the modeled scene.

[0058] Step 3: vTESTstudio outputs the configured test cases to the CANoe platform;

[0059] Step 4: The CANoe platform outputs the test environment to the vTESTstudio automated testing platform.

[0060] Step 5: The CANoe platform outputs lane lines, target information, and status signals, etc., to the HUD controller under test, providing the HUD controller with the input information required by the HUD controller for internal calculations.

[0061] Step 6: The HUD controller transmits the information output after calculation to the VTD simulation platform;

[0062] Step 7: The CANoe platform transmits the four-wheel contact information, throttle status information, and braking status information from the VTD simulation platform to the DYNA4 dynamics platform for calculation.

[0063] Step 8: The DYNA4 dynamics software transmits the calculated vehicle pose information for the next frame to the CANoe platform;

[0064] Step 9: Communication between the CANoe platform and the VTD simulation platform: The CANoe platform sends the instructions from the SoftECU to the VTD simulation platform, while the VTD simulation platform summarizes the driver information and sensor information and transmits it to the CANoe platform.

[0065] Step 10: The VTD simulation platform outputs the simulated images and videos to the outside world;

[0066] Step 11: The CANoe platform outputs the source files, test reports, and execution logs for automated testing.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A simulation and testing method for a HUD controller based on VTD, characterized in that, The system includes a simulation testing system, which comprises a HUD controller, a graphics workstation, a host computer system, and a real-time system. The HUD controller is a real device under test; The host computer system includes a test management module, a dynamics module, and a data acquisition and monitoring module. The test management module tests the HUD controller by running the scenario library used in the HUD test process through vTESTstudio software. The dynamics module is supported by DNYA4 software and interacts with data through the API interface of the VTD simulation platform. The graphics workstation is an Ubuntu-based workstation, and the VTD simulation platform is configured in the workstation. The VTD simulation platform is connected to and interacts with the HUD controller to provide the HUD controller with simulation information built in the virtual simulation world. The VTD simulation platform also interacts with the test management module, dynamics module and data acquisition and monitoring module in the host computer system to support the needs of automated testing. The real-time system includes a real-time processor, a bus communication module, and a power simulation module. The real-time processor is used to ensure the real-time performance of the system. The method specifically includes the following steps: Step 1: Starting from receiving VTD data from the host computer system, analyze the system's data stream; Step 2: The SoftECU model built based on CANoe outputs driver and vehicle pose information after calculation, and transmits the driver and vehicle pose information to the DYNA4 dynamics platform in the dynamics module. The dynamics platform calculates the vehicle pose information of the simulated vehicle and transmits the results output by the dynamics platform to the VTD data interface. At the same time, the dynamics platform also transmits the calculated vehicle pose information to the SoftECU for data communication. Step 3: The SoftECU outputs the calculated navigation information, ADAS information, ADAS sensor noise, and GPS_IMU noise to the HUD controller through the IO model in the DYNA4 dynamics platform. It connects the HUD controller to the vehicle ETH and vehicle CAN data channels. After receiving the data, the HUD controller will process the output image and output the generated image to the decoding module for HDMI transcoding. Step 4: The decoded HUD controller outputs data to the acquisition card in the graphics workstation. Inside the VTD, the data received by the acquisition card is read, stored in shared memory, and mapped with Symbols. Inside the VTD simulation platform, the test-specific scene library written for HUD is called. In the graphics workstation, the output image of HUD is overlaid and fused with the simulation image of VTD. Finally, the sensor information, navigation model, driver information, and vehicle information calculated in VTD are packaged and output to the host computer system, completing the closed loop of HUD tester simulation data.

2. The simulation and testing method for a VTD-based HUD controller according to claim 1, characterized in that, Step 1 includes the following specific steps: The VTD data is sent to the CANoe platform in the host computer system. The VTD data is unpacked and decoded to obtain the data required for HUD simulation testing. Then, it is transmitted to the SoftECU built on the CANoe platform to calculate and analyze the GPS_IMU noise, ADAS function, navigation function, and ADAS_Sensor noise.

3. The simulation and testing method for a VTD-based HUD controller according to claim 1, characterized in that, In step 2, the vehicle pose information includes yaw, pitch, roll, longitudinal velocity, and lateral velocity.

4. The simulation and testing method for a VTD-based HUD controller according to claim 1, characterized in that, In step 4, the scene library includes road information, lane line information, intersection information, road elevation information, and street views on both sides of the road.

5. The simulation and testing method for a VTD-based HUD controller according to claim 1, characterized in that, The data flow interaction information between vTESTstudio software and its various components includes the following steps: Step 1: The vTESTstudio automated testing platform sends commands to the VTD simulation platform, and calls the VTD simulation platform according to the function commands in vTESTstudio; Step 2: After receiving the call command from vTESTstudio, the VTD simulation platform performs calculations and outputs the modeled scene. Step 3: vTESTstudio outputs the configured test cases to the CANoe platform; Step 4: The CANoe platform outputs the test environment to the vTESTstudio automated testing platform; Step 5: The CANoe platform outputs the input information required by the HUD controller to the HUD controller under test for internal calculation. Step 6: The HUD controller transmits the information output after calculation to the VTD simulation platform; Step 7: The CANoe platform transmits the four-wheel contact information, throttle status information, and braking status information from the VTD simulation platform to the DYNA4 dynamics platform for calculation. Step 8: The DYNA4 dynamics software transmits the calculated vehicle pose information for the next frame to the CANoe platform; Step 9: Communication between the CANoe platform and the VTD simulation platform: The CANoe platform sends the instructions from the SoftECU to the VTD simulation platform, while the VTD simulation platform summarizes the driver information and sensor information and transmits it to the CANoe platform. Step 10: The VTD simulation platform outputs the simulated images and videos to the outside world; Step 11: The CANoe platform outputs the source files, test reports, and execution logs for automated testing.

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