Test method, device, equipment and medium of autonomous driving domain controller

Abstract

The present disclosure provides a test method, device, equipment and medium of an automatic driving domain controller, relates to the technical field of testing, and in particular to the test technology of the automatic driving domain controller. The method is applied to a tester, and the specific implementation scheme is as follows: recording a moment when the automatic driving domain controller is powered on or woken up as an initial moment; recording a moment when a pulse signal is acquired from an IO port of the automatic driving domain controller as a pulse moment, wherein the pulse signal is used to indicate a preset node in an establishment process of an Ethernet connection of the automatic driving domain controller; recording a moment when the Ethernet connection is established as a connection moment; and calculating test data corresponding to the preset node in the establishment process of the Ethernet connection based on the initial moment, the pulse moment and the connection moment.

Description

Technical Field

[0001] This disclosure relates to the field of testing technology, and in particular to testing technology for autonomous driving domain controllers, specifically to a testing method, apparatus, device, and medium for autonomous driving domain controllers. Background Technology

[0002] Autonomous driving is a currently popular field, and the autonomous driving domain controller possesses capabilities such as multi-sensor fusion, localization, path planning, wireless communication, decision control, and high-speed communication. It can meet the computing power requirements of autonomous driving, simplify equipment, and improve the integration of autonomous driving systems. The autonomous driving domain controller is also responsible for ensuring the security of the vehicle's underlying core data and network data in autonomous driving mode, making it a core component of high-level autonomous driving.

[0003] Autonomous driving domain controllers provide the guarantee for vehicles to achieve autonomous driving. In testing autonomous driving domain controllers, it is also necessary to test and diagnose the Ethernet connection establishment time of the controller. However, existing testing methods cannot meet the current requirements for testing accuracy. Summary of the Invention

[0004] This disclosure provides a testing method, apparatus, device, and medium for an autonomous driving domain controller.

[0005] According to one aspect of this disclosure, a test method for an autonomous driving domain controller is provided, applied to a test instrument, the method comprising:

[0006] Record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment;

[0007] The moment when the pulse signal is obtained from the IO port of the autonomous driving domain controller is recorded as the pulse moment, wherein the pulse signal is used to represent the preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection;

[0008] Record the establishment time of the Ethernet connection as the connection time;

[0009] Based on the initial time, the pulse time, and the connection time, calculate the test data corresponding to the preset node during the establishment of the Ethernet connection.

[0010] According to another aspect of this disclosure, a testing method for an autonomous driving domain controller is provided, applied to an autonomous driving domain controller, the method comprising:

[0011] In response to the power-on or wake-up of the autonomous driving domain controller, a pulse signal is sent to the tester through the IO port of the autonomous driving domain controller, wherein the pulse signal is used to indicate the preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection;

[0012] The tester is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment, the moment when the pulse signal is acquired as the pulse moment, and the moment when the Ethernet connection is established as the connection moment. Based on the initial moment, the pulse moment, and the connection moment, the test data corresponding to the preset node during the establishment of the Ethernet connection is calculated.

[0013] According to another aspect of this disclosure, a test apparatus for an autonomous driving domain controller is provided, configured in a test instrument, the apparatus comprising:

[0014] The first recording module is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment.

[0015] The second recording module is used to record the time when the pulse signal is obtained from the IO port of the autonomous driving domain controller as the pulse time, wherein the pulse signal is used to represent the preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection;

[0016] The third recording module is used to record the establishment time of the Ethernet connection as the connection time.

[0017] The calculation module is used to calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the pulse time, and the connection time.

[0018] According to another aspect of this disclosure, a testing apparatus for an autonomous driving domain controller is provided, configured on an autonomous driving domain controller, the apparatus comprising:

[0019] A pulse signal transmitting module is used to send a pulse signal to the tester through the IO port of the autonomous driving domain controller in response to the power-on or wake-up of the autonomous driving domain controller. The pulse signal is used to indicate a preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection.

[0020] The tester is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment, the moment when the pulse signal is acquired as the pulse moment, and the moment when the Ethernet connection is established as the connection moment. Based on the initial moment, the pulse moment, and the connection moment, the test data corresponding to the preset node during the establishment of the Ethernet connection is calculated.

[0021] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0022] At least one processor; and

[0023] A memory communicatively connected to the at least one processor; wherein,

[0024] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the test method for an autonomous driving domain controller applied to a test instrument and the test method for an autonomous driving domain controller applied to an autonomous driving domain controller as described in any embodiment of this disclosure.

[0025] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing a computer to execute the test method for an autonomous driving domain controller applied to a test instrument and the test method for an autonomous driving domain controller applied to an autonomous driving domain controller as described in any embodiment of this disclosure.

[0026] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0027] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0028] Figure 1 This is a schematic diagram of a testing method for an autonomous driving domain controller applied to a tester according to an embodiment of the present disclosure;

[0029] Figure 2 This is a block diagram of a tester and an autonomous driving domain controller in a test method according to an embodiment of the present disclosure;

[0030] Figure 3 This is another block diagram of the tester and the autonomous driving domain controller in the test method according to the embodiments of this disclosure;

[0031] Figure 4 This is a schematic diagram of another testing method for an automated driving domain controller applied to a tester according to an embodiment of the present disclosure;

[0032] Figure 5 This is a schematic diagram of another testing method for an automated driving domain controller applied to a tester according to an embodiment of the present disclosure;

[0033] Figure 6It is a timing reference diagram according to an embodiment of the present disclosure;

[0034] Figure 7 This is a schematic diagram of a testing method for an autonomous driving domain controller applied to an autonomous driving domain controller according to an embodiment of the present disclosure;

[0035] Figure 8 This is a schematic diagram of a link delay test between a microcontroller and a central computing controller in an autonomous driving domain controller according to an embodiment of the present disclosure;

[0036] Figure 9 This is another schematic diagram illustrating the link delay test between the microcontroller and the central computing controller in the autonomous driving domain controller according to an embodiment of the present disclosure;

[0037] Figure 10 This is a schematic diagram of the structure of a test apparatus for an autonomous driving domain controller configured in a tester according to an embodiment of the present disclosure;

[0038] Figure 11 This is a schematic diagram of the structure of a test apparatus for an autonomous driving domain controller configured in an autonomous driving domain controller according to an embodiment of the present disclosure;

[0039] Figure 12 This is a block diagram of an electronic device used to implement a test method for an autonomous driving domain controller applied to a test instrument, according to embodiments of the present disclosure. Detailed Implementation

[0040] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0041] Figure 1 This is a schematic diagram of a testing method for an autonomous driving domain controller applied to a tester according to an embodiment of this disclosure. This embodiment is applicable to situations where the Ethernet connection time of an autonomous driving domain controller is tested using a tester, and relates to the field of testing technology, particularly to testing technology for autonomous driving domain controllers. This method can be executed by a testing device configured on the tester for the autonomous driving domain controller, which is implemented in software and / or hardware. Figure 1 As shown, the method specifically includes the following:

[0042] S101. Record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment.

[0043] S102. The moment when the pulse signal is obtained from the IO port of the autonomous driving domain controller is recorded as the pulse moment, wherein the pulse signal is used to represent the preset node of the autonomous driving domain controller in the process of establishing the Ethernet connection.

[0044] S103. Record the establishment time of the Ethernet connection as the connection time.

[0045] S104. Based on the initial time, pulse time, and connection time, calculate the test data corresponding to the preset node during the establishment of the Ethernet connection.

[0046] The testing method for the autonomous driving domain controller in this embodiment is executed by a tester, which tests the latency of the Ethernet PHY chip in the autonomous driving domain controller and other Ethernet PHY chips at different stages during the establishment of an Ethernet connection.

[0047] First, the monitoring software can control the tester to power on or wake up the autonomous driving domain controller. At this time, the tester will record the moment the autonomous driving domain controller powers on or wakes up as the initial moment. It should be noted that in some implementations, the autonomous driving domain controller can be in a always-on state, requiring only power-on to start; in other implementations, it needs to be woken up after power-on. This disclosure does not limit the implementation of at least two of the above implementation methods.

[0048] After the tester powers on or wakes up the autonomous driving domain controller, the controller starts up, and its Ethernet PHY chip begins establishing Ethernet connections with other Ethernet PHY chips that need to be connected. During this process, different stage nodes can be pre-configured, such as the node where the autonomous driving domain controller initiates initialization for the Ethernet PHY chip, the node where the Ethernet PHY chip completes initialization, or any other preset nodes that may occur during the establishment of the Ethernet connection. When these preset nodes are reached, the autonomous driving domain controller can send the corresponding pulse signal to the tester through its configured I / O ports. The tester receives the pulse signal from the I / O ports and records the moment as the pulse time. It should be noted that any number of preset nodes can be configured according to actual testing needs; correspondingly, the number of pulse signals is the same as the number of preset nodes. In addition, the tester also monitors the status of the aforementioned Ethernet connections. When an Ethernet connection is detected as established, the moment of connection establishment is recorded as the connection time.

[0049] Next, the tester can calculate the test data corresponding to the preset nodes during the Ethernet connection establishment process based on the initial time, pulse time, and connection time. The initial time represents the start time of the autonomous driving domain controller, i.e., the power-on / wake-up time; the pulse signal represents at least one preset node in the Ethernet connection establishment process; and the connection time represents the moment the Ethernet connection is established. Based on these times, the test data corresponding to the preset nodes can be calculated. For example, if there are two pulse signals, pulse signal 1 and pulse signal 2, corresponding to preset node 1 and preset node 2 respectively, then the delay from start-up to preset node 1 can be calculated based on the time of pulse signal 1 acquisition and the initial time; the delay from preset node 1 to preset node 2 can be calculated based on the time of pulse signal 2 acquisition and pulse signal 1 acquisition; and the delay from preset node 2 to Ethernet connection establishment can be calculated based on the connection time and the time of pulse signal 2 acquisition. Therefore, the delay of different stages in the process of the autonomous driving domain controller from start-up to Ethernet connection establishment can be tested.

[0050] Therefore, the technical solution of this disclosure can not only test the latency of the autonomous driving domain controller at different stages during the Ethernet connection establishment process, improving the test accuracy, but also make the method of this disclosure applicable to autonomous driving domain controllers with complex structures. Furthermore, by sending pulse signals through the IO port, zero-latency transmission of time information between the tester and the autonomous driving domain controller can be achieved, further improving test accuracy. Simultaneously, it can also perform timely diagnosis of the autonomous driving domain controller based on the latency at different stages of the Ethernet connection establishment process, accurately locating the cause when the test fails, improving the development efficiency of the autonomous driving domain controller, saving development costs, and shortening the development cycle.

[0051] In one embodiment, the tester includes a first external network PHY chip, and the autonomous driving domain controller includes a central computing controller and a second Ethernet PHY chip, the second Ethernet PHY chip being connected to the first Ethernet PHY chip via Ethernet. Correspondingly, the pulse signal includes a first initialization pulse signal, which is sent by the central computing controller through an I / O port after the autonomous driving domain controller is powered on or woken up, indicating that the central computing controller has completed the initialization of the second Ethernet PHY chip.

[0052] Specifically, in this implementation, firstly, the tester powers on / wakes up the autonomous driving domain controller. Then, the central computing controller initializes the second Ethernet PHY chip. After initialization, the second Ethernet PHY chip further establishes an Ethernet connection with the first Ethernet PHY chip. During this process, the preset node is the node corresponding to when the second Ethernet PHY chip completes initialization. At this time, the central computing controller directly sends a first initialization pulse signal to the tester via its I / O port. Upon receiving this signal, the tester monitors the connection establishment status between the first and second Ethernet PHY chips. When the connection is established, it records this moment as the connection time. Then, test data is calculated based on the initial time, the first initialization pulse time of the first initialization pulse signal, and the connection time. Specifically, the difference between the first initialization pulse time and the initial time is used to obtain the first duration corresponding to the autonomous driving domain controller from power-on or wake-up to the completion of initialization of the second Ethernet PHY chip; the difference between the connection time and the first initialization pulse time is used to obtain the second duration corresponding to the completion of initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection; the first duration and the second duration are used as the test data.

[0053] Figure 2 This is a block diagram of a tester and an autonomous driving domain controller in a test method according to an embodiment of the present disclosure. As shown in the figure, the tester 210 includes a switch module 212, a controller 213, an Ethernet PHY chip 214, and a wake-up source 217. The autonomous driving domain controller 220 includes a power supply module 221, an Ethernet PHY chip 222, an Ethernet switch 223, a wake-up module 226, and a central computing controller 225.

[0054] Testers can send commands to the test instrument 210 via monitoring software 200. The controller 213 then powers on or wakes up the power supply module 221 or wake-up module 226 of the autonomous driving domain controller 220 via switch module 212 or wake-up source 217, and records this as the initial time. Afterwards, the central computing controller 225 starts up and initializes the Ethernet PHY chip 222 via Ethernet switch 223. The initialized Ethernet PHY chip 222 establishes an Ethernet connection with the Ethernet PHY chip 214. During this process, after completing initialization, the central computing controller 225 sends a first initialization pulse signal to the test instrument 210 via its I / O port. The controller 213 receives this signal and records it as the first initialization pulse time. Then, it begins monitoring the connection establishment status between the Ethernet PHY chip 214 and the Ethernet PHY chip 222, recording the connection establishment time as the connection time. Subsequently, the controller 213 calculates the test data corresponding to the node that has completed initialization based on the initial time, the first initialization pulse time, and the connection time. Furthermore, as... Figure 2 The protection circuits 216 and 224 in the circuit can prevent static electricity, electromagnetic interference, and short circuits. The crystal oscillator 215 provides a clock reference for the controller 213 and also provides temperature compensation, improving the timing accuracy of the controller 213. It should be noted that the design details of the protection circuits and crystal oscillator circuits can be found in existing technologies and will not be elaborated upon here.

[0055] The technical solution of this disclosure calculates the delay corresponding to the completion of initialization of the second Ethernet PHY chip by the autonomous driving domain controller from power-on or wake-up using the first initialization pulse time and the initial time, and calculates the delay corresponding to the completion of initialization of the second Ethernet PHY chip by the autonomous driving domain controller from the establishment of Ethernet connection using the connection time and the first initialization pulse time. This improves the test accuracy of Ethernet establishment time and makes it applicable to autonomous driving domain controllers with complex structures.

[0056] In another embodiment, the tester includes a first external network PHY chip, and the autonomous driving domain controller includes a central computing controller, a microcontroller, and a second Ethernet PHY chip. The second Ethernet PHY chip is connected to the first Ethernet PHY chip via Ethernet. The pulse signal includes a second initialization pulse signal, which is sent by the microcontroller through the I / O port after the autonomous driving domain controller is powered on or woken up. This second initialization pulse signal indicates that the central computing controller has completed the initialization of the second Ethernet PHY chip, and the microcontroller communicates with the central computing controller via the network.

[0057] Specifically, after the autonomous driving domain controller powers on / wakes up, the central computing controller needs to establish network communication with the microcontroller to complete time synchronization. Then, the central computing controller sends a test signal to the microcontroller, which calculates the delay value T for network communication with the central computing controller based on the moment the test signal is received. After sending the second initialization pulse signal, the microcontroller delays by T before sending a delayed pulse to the test instrument. The test instrument records the moment the delayed pulse is acquired as the delayed pulse moment and calculates the delay value based on the delayed pulse moment and the second initialization pulse moment. For example, the difference between the delayed pulse moment and the second initialization pulse moment is the delay value T. Next, the test instrument calculates the test data corresponding to the preset node during the Ethernet connection establishment process based on the initial moment, the second initialization pulse moment, the connection moment, and the delay value.

[0058] Specifically, based on the initial time, the second initialization pulse time, the connection time, and the delay value, test data corresponding to the preset node is calculated during the establishment of the Ethernet connection.

[0059] Calculate the first difference between the second initialization pulse time and the initial time, and subtract the first difference from the delay value to obtain the third duration corresponding to the automatic driving domain controller from power-on or wake-up to the completion of initialization of the second Ethernet PHY chip;

[0060] Calculate the second difference between the connection time and the second initialization pulse time, and sum the second difference with the delay value to obtain the fourth duration corresponding to the completion of the initialization of the second Ethernet PHY chip and the establishment of the Ethernet connection;

[0061] The third and fourth durations were used as test data.

[0062] As can be seen, the present invention modulates the delay time information inside the autonomous driving domain controller into a pulse signal for transmission, so that the tester can obtain the second initialization pulse signal and the delay pulse through the IO port, and calculate the communication delay between the microcontroller and the central computing controller based on the time difference between the two signals. This communication delay is then taken into account when calculating the test data, thereby improving the accuracy of the calculation.

[0063] Figure 3 This is another block diagram of the tester and autonomous driving domain controller in the test method according to an embodiment of this disclosure. As shown in the figure, the tester 310 includes a switch module 312, a controller 313, an Ethernet PHY chip 314, and a wake-up source 317. The autonomous driving domain controller 320 includes a power supply module 321, an Ethernet PHY chip 322, an Ethernet switch 323, a wake-up module 326, and a central computing controller 325. In addition, it also includes a microcontroller 327. The microcontroller 327 is typically used for low-speed interface communication (e.g., communication with other domain controllers in the vehicle via low-speed buses such as CAN, LIN, and FlexRay); power-on / off management; monitoring of voltage, current, temperature, etc.; and fault monitoring of sensors such as cameras and radar. Furthermore, the functions of the monitoring software 300, crystal oscillator 315, protection circuit 316, and protection circuit 324 are the same as in the above embodiment, and will not be repeated here. In this embodiment, the flowchart of the test method is as follows: Figure 4 As shown.

[0064] Figure 4 This is a schematic diagram of another testing method for an automated driving domain controller applied to a tester according to an embodiment of this disclosure, as shown below. Figure 4 As shown, the method specifically includes the following:

[0065] S401. Record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment.

[0066] S402. The moment when the second initialization pulse signal is obtained from the IO port of the autonomous driving domain controller is recorded as the second initialization pulse moment, wherein the second initialization pulse signal is used to indicate that the autonomous driving domain controller has completed the initialization of the second Ethernet PHY chip.

[0067] After startup, the central computing controller 325 initializes the Ethernet PHY chip 322 via the Ethernet switch 323, and then notifies the microcontroller 327 after initialization. The microcontroller 327 then sends a second initialization pulse signal to the tester 310 via its I / O port. Upon receiving this signal, the controller 313 in the tester 310 monitors the connection status of the Ethernet PHY chip 314.

[0068] S403. In response to the monitoring that the first Ethernet PHY chip and the second Ethernet PHY chip have established an Ethernet connection, the time when the Ethernet connection is established is recorded as the connection time.

[0069] S404. The time when the delay pulse is obtained from the IO port is recorded as the delay pulse time. The delay pulse is sent by the microcontroller after a delay of T after sending the second initialization pulse signal. T represents the delay value for network communication between the microcontroller and the central computing controller.

[0070] S405. Calculate the delay value based on the delay pulse time and the second initialization pulse time.

[0071] S406. Based on the initial time, the second initialization pulse time, the connection time, and the delay value, calculate the test data corresponding to the preset node for the autonomous driving domain controller during the Ethernet connection establishment process.

[0072] Figure 5 This is a schematic diagram of another testing method for an autonomous driving domain controller applied to a tester according to an embodiment of the present disclosure. Figure 6 This is a timing reference diagram according to an embodiment of the present disclosure. Figure 6 In this context, T represents time, V represents signal strength, and O represents the time origin. For example... Figure 5 As shown, the method includes:

[0073] S501, The tester powers on / wakes up the autonomous driving domain controller and records this moment as T0.

[0074] S502, the central computing controller of the autonomous driving domain controller starts up.

[0075] S503, the central computing controller and microcontroller initiate the link delay test process and calculate the link delay value Tdelay.

[0076] S504: The central computing controller completes the initialization of the Ethernet PHY chip and sends a PHY chip ready signal to the microcontroller.

[0077] After receiving the ready signal (at time T1), the S505 microcontroller sends a second initialization pulse signal through the IO port, and sends a delayed pulse after a delay Tdelay (at time T2).

[0078] S506. The controller in the tester receives the second initialization pulse signal and records this moment as T1.

[0079] S507. The controller in the tester receives the delayed pulse and records this moment as T2. The result is Tdelay = T2 - T1.

[0080] S508: The controller in the tester starts monitoring the physical layer connection status of the Ethernet PHY chip at time T1, and continues until a physical layer connection is established. This time is recorded as T3.

[0081] S509. Calculate Tready = T1 - T0 - Tdelay; Tlinkup = T3 - T1 + Tdelay; complete the test of Ethernet connection establishment time.

[0082] Here, Tready represents the third duration from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip; Tlinkup represents the fourth duration from the completion of initialization of the second Ethernet PHY chip by the autonomous driving domain controller to the establishment of the Ethernet connection. Tdelay represents the transmission delay between the central computing controller and the microcontroller.

[0083] It should be noted that, on the one hand, since the delay of transmitting IO level signals on the line is on the order of nanoseconds (ns), it is negligible compared to the delay on the order of milliseconds (ms). Therefore, the times T1 and T2 when the microcontroller sends out the pulse signal can be considered as the times when the controller in the test instrument receives the pulse signal. On the other hand, S507 is the process by which the controller in the test instrument obtains Tdelay by detecting the level state of the IO port. By transmitting the two data points, T1 and Tdelay, in real time through an IO port, and modulating the internal delay time information of the autonomous driving domain controller into the pulse signal for transmission, the accuracy of information transmission can be improved, thereby ensuring the accuracy of the test.

[0084] Figure 7This is a schematic diagram of a testing method for an autonomous driving domain controller according to an embodiment of the present disclosure. This embodiment is applicable to situations where the Ethernet connection time of an autonomous driving domain controller is tested using a tester, and relates to the field of testing technology, particularly to testing technology for autonomous driving domain controllers. The method can be executed by a testing device configured on the autonomous driving domain controller, which is implemented in software and / or hardware. Figure 7 As shown, the method specifically includes the following:

[0085] S701, in response to the power-on or wake-up of the autonomous driving domain controller, sends a pulse signal to the tester through the IO port of the autonomous driving domain controller. The pulse signal is used to indicate the preset node of the autonomous driving domain controller during the Ethernet connection establishment process.

[0086] The tester is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment, the moment when the pulse signal is acquired as the pulse moment, and the moment when the Ethernet connection is established as the connection moment. Based on the initial moment, the pulse moment, and the connection moment, it calculates the test data corresponding to the preset node during the establishment of the Ethernet connection.

[0087] The testing method for an autonomous driving domain controller applied to an autonomous driving domain controller in this embodiment involves the autonomous driving domain controller sending pulse signals representing different nodes during the Ethernet connection establishment process to a tester through a configured IO port. This allows the tester to calculate the delay at different stages of the Ethernet connection establishment process based on the power-on / wake-up time of the autonomous driving domain controller, the time of acquiring the pulse signals, and the time of detecting the Ethernet connection establishment. This enables timely diagnosis of the autonomous driving domain controller, accurately pinpointing the cause when the test fails, improving the development efficiency of the autonomous driving domain controller, saving development costs, and shortening the development cycle.

[0088] In one embodiment, the tester includes a first external network PHY chip, and the autonomous driving domain controller includes a central computing controller and a second Ethernet PHY chip, wherein the second Ethernet PHY chip is connected to the first Ethernet PHY chip via Ethernet.

[0089] Correspondingly, in response to the power-on or wake-up of the autonomous driving domain controller, a pulse signal is sent to the test instrument through the I / O port of the autonomous driving domain controller, including:

[0090] In response to the power-on or wake-up of the autonomous driving domain controller, the central computing controller sends a first initialization pulse signal to the test instrument through the IO port. The first initialization pulse signal is used to indicate that the central computing controller has completed the initialization of the second Ethernet PHY chip.

[0091] Specifically, in this embodiment, the preset node is the node corresponding to the completion of initialization of the second Ethernet PHY chip, and the first initialization pulse signal is sent directly to the test instrument by the central computing controller in the autonomous driving domain controller through the I / O port. This is suitable for autonomous driving domain controllers without a microcontroller. The test data includes a first duration and a second duration. The first duration refers to the time from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip, obtained by subtracting the first initialization pulse time from the initialization time. The second duration refers to the time from the completion of initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection, obtained by subtracting the connection time from the first initialization pulse time.

[0092] In another embodiment, the tester includes a first external network PHY chip, and the autonomous driving domain controller includes a central computing controller, a microcontroller, and a second Ethernet PHY chip, which is connected to the first Ethernet PHY chip via Ethernet.

[0093] Correspondingly, in response to the power-on or wake-up of the autonomous driving domain controller, a pulse signal is sent to the test instrument through the I / O port of the autonomous driving domain controller, including:

[0094] In response to the power-on or wake-up of the autonomous driving domain controller, the microcontroller sends a second initialization pulse signal to the tester through the IO port. The second initialization pulse signal indicates that the central computing controller has completed the initialization of the second Ethernet PHY chip, and the microcontroller communicates with the central computing controller via the network.

[0095] Specifically, in this embodiment, the preset node is the node corresponding to the initialization of the second Ethernet PHY chip, and the first initialization pulse signal is sent to the test instrument by the microcontroller in the autonomous driving domain controller through the I / O port. This method is suitable for autonomous driving domain controllers configured with microcontrollers. The pulse timing corresponding to the second initialization pulse signal is taken as the second initialization pulse timing. Correspondingly, the method further includes:

[0096] After sending the second initialization pulse signal, the microcontroller sends a delayed pulse to the tester through the IO port after a delay of T, where T represents the delay value for network communication between the microcontroller and the central computing controller.

[0097] The tester is also used to: record the time of acquiring the delay pulse as the delay pulse time; calculate the delay value based on the delay pulse time and the second initialization pulse time; and calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the second initialization pulse time, the connection time, and the delay value.

[0098] In other words, for the complex autonomous driving domain controller with a microcontroller, the microcontroller sends pulse signals. There is a communication delay between the microcontroller and the central computing controller. Therefore, after the microcontroller and the central computing controller complete time synchronization and calculate the delay value T, the microcontroller sends the second initialization pulse signal to the tester, and then sends the delayed pulse after a delay of T. This allows the tester to calculate the delay value T based on the times of the second initialization pulse signal and the delayed pulse. This is equivalent to modulating the time information of the delay inside the autonomous driving domain controller into the pulse signal for transmission. This not only enables zero-delay transmission between the autonomous driving domain controller and the tester through the IO port, but also improves the accuracy of the tester's calculation of test data.

[0099] The test data includes a third duration and a fourth duration. The third duration refers to the time from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip, calculated by subtracting the first difference from the initial pulse time and the delay value. The fourth duration refers to the time from the completion of initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection, calculated by subtracting the second difference from the connection time and the second initial pulse time and the delay value.

[0100] In addition, the delay value T is obtained by the microcontroller through link delay testing with the central computing controller. Figure 8 This is a schematic diagram of a link delay test between a microcontroller and a central computing controller in an autonomous driving domain controller according to an embodiment of the present disclosure. Figure 9 This is another schematic diagram illustrating link latency testing between the microcontroller and the central computing controller in an autonomous driving domain controller according to an embodiment of this disclosure. As shown in the figure, the process of performing link latency testing includes:

[0101] S801. The central computing controller establishes network communication with the microcontroller. The central computing controller sends a test signal Test_Signal1 to the microcontroller and records the time as t1.

[0102] S802, the central computing controller sends the time t1 at which Test_Signal1 is sent to the microcontroller.

[0103] S803, the microcontroller receives Test_Signal1 and records the time as t2.

[0104] S804: The microcontroller receives t1 from the central computing controller and records t1.

[0105] S805: The microcontroller sends Test_Signal2 to the central computing controller at time t3 and records this time as t3.

[0106] S806, the central computing controller records the time when Test_Signal2 is received as t4.

[0107] S807, the central computing controller sends t4 to the microcontroller.

[0108] S808, the microcontroller receives t4 and calculates the link delay: Tdelay = 0.5 * (t4 - t1 + t2 - t3).

[0109] It should be noted that during the link latency test, the frame format of Test_Signal1 and Test_Signal2 used above is the same as the PHY chip ready signal sent by the central computing controller to the microcontroller (e.g., ...). Figure 5 The steps (S504) are completely identical, which ensures the accuracy of the time delay measurement.

[0110] Because there is a fixed time deviation toffset between the central computing controller and the microcontroller, assuming that the time corresponding to t1 in the microcontroller is t1', through... Figure 9 It can be seen that the time deviation between the central computing controller and the microcontroller is toffset = t1' - t1 = t4' - t4. The link transmission delay is Tdelay = t2 - t1' = t4' - t3. t1' and t4' are unknown by default, representing the time of the microcontroller system at times t1 and t4, respectively. Therefore, Tdelay = 0.5 * (t4 - t1 + t2 - t3).

[0111] Figure 10 This is a schematic diagram of a testing apparatus for an autonomous driving domain controller configured on a tester according to an embodiment of this disclosure. This embodiment is applicable to situations where the Ethernet connection time of an autonomous driving domain controller is tested using a tester, and relates to the field of testing technology, particularly to testing technology for autonomous driving domain controllers. This apparatus can implement the testing method for an autonomous driving domain controller applied to a tester as described in any embodiment of this disclosure. Figure 10 As shown, the device 1000 specifically includes:

[0112] The first recording module 1001 is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment.

[0113] The second recording module 1002 is used to record the time when the pulse signal is obtained from the IO port of the autonomous driving domain controller as the pulse time, wherein the pulse signal is used to represent the preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection;

[0114] The third recording module 1003 is used to record the establishment time of the Ethernet connection as the connection time.

[0115] The calculation module 1004 is used to calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the pulse time and the connection time.

[0116] Optionally, the tester includes a first external network PHY chip, and the autonomous driving domain controller includes a central computing controller and a second Ethernet PHY chip, wherein the second Ethernet PHY chip is connected to the first Ethernet PHY chip via Ethernet.

[0117] The pulse signal includes a first initialization pulse signal, wherein the first initialization pulse signal is sent by the central computing controller through the IO port after the autonomous driving domain controller is powered on or woken up, and is used to indicate that the central computing controller has completed the initialization of the second Ethernet PHY chip.

[0118] Optionally, the pulse time corresponding to the first initialization pulse signal is taken as the first initialization pulse time;

[0119] The calculation module 1004 includes a first calculation submodule, the first calculation submodule including:

[0120] The first duration calculation unit is used to calculate the difference between the first initialization pulse time and the initial time to obtain the first duration corresponding to the time from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip.

[0121] The second duration calculation unit is used to calculate the difference between the connection time and the first initialization pulse time to obtain the second duration corresponding to the completion of the initialization of the second Ethernet PHY chip and the establishment of the Ethernet connection.

[0122] The first test data acquisition unit is used to use the first duration and the second duration as the test data.

[0123] Optionally, the tester includes a first external network PHY chip, and the autonomous driving domain controller includes a central computing controller, a microcontroller, and a second Ethernet PHY chip, wherein the second Ethernet PHY chip is connected to the first Ethernet PHY chip via Ethernet.

[0124] The pulse signal includes a second initialization pulse signal, wherein the second initialization pulse signal is sent by the microcontroller through the IO port after the autonomous driving domain controller is powered on or woken up, and is used to indicate that the central computing controller has completed the initialization of the second Ethernet PHY chip, and the microcontroller communicates with the central computing controller via the network.

[0125] Optionally, the pulse time corresponding to the second initialization pulse signal is taken as the second initialization pulse time;

[0126] The calculation module 1004 includes a second calculation submodule, the second calculation submodule including:

[0127] The delay pulse timing recording unit is used to record the timing of obtaining the delay pulse from the IO port as the delay pulse timing, wherein the delay pulse is sent by the microcontroller after a delay of T after sending the second initialization pulse signal, and T represents the delay value of the network communication between the microcontroller and the central computing controller;

[0128] The delay value calculation unit is used to calculate the delay value based on the delay pulse time and the second initialization pulse time;

[0129] The second calculation unit is used to calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the second initialization pulse time, the connection time, and the delay value.

[0130] Optionally, the second computing unit is specifically used for:

[0131] Calculate the first difference between the second initialization pulse time and the initial time, and subtract the first difference from the delay value to obtain the third duration corresponding to the time from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip;

[0132] Calculate the second difference between the connection time and the second initialization pulse time, and sum the second difference with the delay value to obtain the fourth duration from the completion of the initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection;

[0133] The third duration and the fourth duration are used as the test data.

[0134] Figure 11This is a schematic diagram of a test apparatus for an autonomous driving domain controller configured in an autonomous driving domain controller according to an embodiment of this disclosure. This embodiment is applicable to situations where the Ethernet connection time of an autonomous driving domain controller is tested using a tester, and relates to the field of testing technology, particularly to testing technology for autonomous driving domain controllers. This apparatus can implement the testing method for an autonomous driving domain controller applied to an autonomous driving domain controller as described in any embodiment of this disclosure. Figure 11 As shown, the device 1100 specifically includes:

[0135] The pulse signal transmitting module 1101 is used to send a pulse signal to the tester through the IO port of the autonomous driving domain controller in response to the power-on or wake-up of the autonomous driving domain controller. The pulse signal is used to indicate the preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection.

[0136] The tester is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment, the moment when the pulse signal is acquired as the pulse moment, and the moment when the Ethernet connection is established as the connection moment. Based on the initial moment, the pulse moment, and the connection moment, the test data corresponding to the preset node during the establishment of the Ethernet connection is calculated.

[0137] Optionally, the tester includes a first external network PHY chip, and the autonomous driving domain controller includes a central computing controller and a second Ethernet PHY chip, wherein the second Ethernet PHY chip is connected to the first Ethernet PHY chip via Ethernet.

[0138] The pulse signal transmitting module 1101 includes a first transmitting submodule, which is specifically used for:

[0139] In response to the power-on or wake-up of the autonomous driving domain controller, the central computing controller sends a first initialization pulse signal to the test instrument through the IO port, wherein the first initialization pulse signal is used to indicate that the central computing controller has completed the initialization of the second Ethernet PHY chip.

[0140] Optionally, the test data includes a first duration and a second duration;

[0141] The first duration refers to the time from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip by subtracting the first initialization pulse time from the initialization time.

[0142] The second duration refers to the time from the completion of initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection, obtained by subtracting the connection time from the first initialization pulse time.

[0143] Optionally, the tester includes a first external network PHY chip, and the autonomous driving domain controller includes a central computing controller, a microcontroller, and a second Ethernet PHY chip, wherein the second Ethernet PHY chip is connected to the first Ethernet PHY chip via Ethernet.

[0144] The pulse signal transmitting module 1101 includes a second transmitting submodule, which is specifically used for:

[0145] In response to the power-on or wake-up of the autonomous driving domain controller, the microcontroller sends a second initialization pulse signal to the tester through the IO port. The second initialization pulse signal indicates that the central computing controller has completed the initialization of the second Ethernet PHY chip, and the microcontroller communicates with the central computing controller via the network.

[0146] Optionally, the pulse time corresponding to the second initialization pulse signal is used as the second initialization pulse time; the device further includes a delayed pulse transmission module, specifically used for:

[0147] After sending the second initialization pulse signal, the microcontroller sends a delayed pulse to the tester through the IO port after a delay of T, where T represents the delay value for network communication between the microcontroller and the central computing controller;

[0148] The tester is further configured to: record the time at which the delay pulse is acquired as the delay pulse time; calculate the delay value based on the delay pulse time and the second initialization pulse time; and calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the second initialization pulse time, the connection time, and the delay value.

[0149] Optionally, the test data includes a third duration and a fourth duration;

[0150] The third duration refers to: calculating the first difference between the second initialization pulse time and the initial time, and subtracting the first difference from the delay value to obtain the time corresponding to the autonomous driving domain controller from power-on or wake-up to the completion of initialization of the second Ethernet PHY chip;

[0151] The fourth duration refers to: calculating the second difference between the connection time and the second initialization pulse time, and summing the second difference with the delay value to obtain the time from the completion of the initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection.

[0152] Optionally, T is obtained by the microcontroller through a link latency test with the central computing controller.

[0153] The above-described products can perform the methods provided in any embodiment of this disclosure, and have the corresponding functional modules and beneficial effects for performing the methods.

[0154] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0155] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0156] Figure 12 A schematic block diagram of an example electronic device 1200 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0157] like Figure 12 As shown, device 1200 includes a computing unit 1201, which can perform various appropriate actions and processes according to a computer program stored in read-only memory (ROM) 1202 or a computer program loaded from storage unit 1208 into random access memory (RAM) 1203. The RAM 1203 may also store various programs and data required for the operation of device 1200. The computing unit 1201, ROM 1202, and RAM 1203 are interconnected via bus 1204. Input / output (I / O) interface 1205 is also connected to bus 1204.

[0158] Multiple components in device 1200 are connected to I / O interface 1205, including: input unit 1206, such as keyboard, mouse, etc.; output unit 1207, such as various types of monitors, speakers, etc.; storage unit 1208, such as disk, optical disk, etc.; and communication unit 1209, such as network card, modem, wireless transceiver, etc. Communication unit 1209 allows device 1200 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0159] The computing unit 1201 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1201 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1201 performs the various methods and processes described above, such as test methods for autonomous driving domain controllers applied to a test instrument and an autonomous driving domain controller, respectively. For example, in some embodiments, the test methods for autonomous driving domain controllers applied to a test instrument and an autonomous driving domain controller, respectively, can be implemented as computer software programs tangibly contained in a machine-readable medium, such as storage unit 1208. In some embodiments, part or all of the computer program can be loaded and / or installed on device 1200 via ROM 1202 and / or communication unit 1209. When the computer program is loaded into RAM 1203 and executed by the computing unit 1201, one or more steps of the test methods for autonomous driving domain controllers applied to a test instrument and an autonomous driving domain controller, respectively, described above, can be performed. Alternatively, in other embodiments, the computing unit 1201 may be configured by any other suitable means (e.g., by means of firmware) to execute test methods for the autonomous driving domain controller, which are respectively applied to the test instrument and the autonomous driving domain controller.

[0160] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0161] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0162] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0163] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0164] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0165] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is established by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service ecosystem that addresses the management difficulties and weak business scalability inherent in traditional physical hosting and VPS services. Servers can also be servers for distributed systems or servers integrated with blockchain technology.

[0166] Artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies mainly include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0167] Cloud computing refers to a technology system that enables access to a shared pool of physical or virtual resources via a network. These resources can include servers, operating systems, networks, software, applications, and storage devices, and can be deployed and managed on demand and in a self-service manner. Cloud computing technology can provide efficient and powerful data processing capabilities for applications such as artificial intelligence and blockchain, as well as for model training.

[0168] Furthermore, according to embodiments of this disclosure, this disclosure also provides another electronic device, another readable storage medium, and another computer program product for performing one or more steps of the testing method for an autonomous driving domain controller applied to an autonomous driving domain controller as described in any embodiment of this disclosure. The specific structure and program code can be found as follows: Figure 12 The content of the illustrated embodiments will not be repeated here.

[0169] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution provided in this disclosure can be achieved, and this is not limited herein.

[0170] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A testing method for an autonomous driving domain controller, applied to a testing instrument, the method comprising: Record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment; The moment when the pulse signal is obtained from the IO port of the autonomous driving domain controller is recorded as the pulse moment, wherein the pulse signal is used to represent the preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection; Record the establishment time of the Ethernet connection as the connection time; Based on the initial time, the pulse time, and the connection time, calculate the test data corresponding to the preset node during the establishment of the Ethernet connection; The autonomous driving domain controller includes a central computing controller and a microcontroller; the pulse signal includes a second initialization pulse signal. Wherein, the pulse time corresponding to the second initialization pulse signal is taken as the second initialization pulse time; The step of calculating the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the pulse time, and the connection time includes: The time when the delay pulse is obtained from the IO port is recorded as the delay pulse time. The delay pulse is sent by the microcontroller after a delay of T after sending the second initialization pulse signal. T represents the delay value for network communication between the microcontroller and the central computing controller. The delay value is calculated based on the delay pulse time and the second initialization pulse time; Based on the initial time, the second initialization pulse time, the connection time, and the delay value, calculate the test data corresponding to the preset node during the establishment of the Ethernet connection.

2. The method according to claim 1, wherein, The tester includes a first Ethernet PHY chip, and the autonomous driving domain controller also includes a second Ethernet PHY chip, which is connected to the first Ethernet PHY chip via Ethernet. The pulse signal includes a first initialization pulse signal, wherein the first initialization pulse signal is sent by the central computing controller through the IO port after the autonomous driving domain controller is powered on or woken up, and is used to indicate that the central computing controller has completed the initialization of the second Ethernet PHY chip.

3. The method according to claim 2, wherein, The step of using the pulse time corresponding to the first initialization pulse signal as the first initialization pulse time, and calculating the test data based on the preset node during the establishment of the Ethernet connection according to the initial time, the pulse time, and the connection time, further includes: The difference between the first initialization pulse time and the initial time is used to obtain the first duration corresponding to the time from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip. The difference between the connection time and the first initialization pulse time is used to obtain the second duration from the completion of the initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection. The first duration and the second duration are used as the test data.

4. The method according to claim 1, wherein, The tester includes a first Ethernet PHY chip, and the autonomous driving domain controller also includes a second Ethernet PHY chip, which is connected to the first Ethernet PHY chip via Ethernet. The second initialization pulse signal is sent by the microcontroller through the IO port after the autonomous driving domain controller is powered on or woken up, and is used to indicate that the central computing controller has completed the initialization of the second Ethernet PHY chip, and the microcontroller communicates with the central computing controller via the network.

5. The method according to claim 4, wherein, The step of calculating the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the second initialization pulse time, the connection time, and the delay value includes: Calculate the first difference between the second initialization pulse time and the initial time, and subtract the first difference from the delay value to obtain the third duration corresponding to the time from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip; Calculate the second difference between the connection time and the second initialization pulse time, and sum the second difference with the delay value to obtain the fourth duration corresponding to the completion of the initialization of the second Ethernet PHY chip and the establishment of the Ethernet connection; The third duration and the fourth duration are used as the test data.

6. A testing method for an autonomous driving domain controller, applied to an autonomous driving domain controller, the method comprising: In response to the power-on or wake-up of the autonomous driving domain controller, a pulse signal is sent to the tester through the IO port of the autonomous driving domain controller, wherein the pulse signal is used to indicate the preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection; The tester is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment, the moment when the pulse signal is acquired as the pulse moment, the moment when the Ethernet connection is established as the connection moment, and to calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial moment, the pulse moment and the connection moment. The autonomous driving domain controller includes a central computing controller and a microcontroller; The step of sending a pulse signal to the test instrument through the I / O port of the autonomous driving domain controller in response to power-on or wake-up of the autonomous driving domain controller includes: in response to power-on or wake-up of the autonomous driving domain controller, the microcontroller sending a second initialization pulse signal to the test instrument through the I / O port. Wherein, the pulse time corresponding to the second initialization pulse signal is taken as the second initialization pulse time; the method further includes: After sending the second initialization pulse signal, the microcontroller sends a delayed pulse to the tester through the IO port after a delay of T, where T represents the delay value for network communication between the microcontroller and the central computing controller; The tester is further configured to: record the time at which the delay pulse is acquired as the delay pulse time; calculate the delay value based on the delay pulse time and the second initialization pulse time; and calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the second initialization pulse time, the connection time, and the delay value.

7. The method according to claim 6, wherein, The tester includes a first Ethernet PHY chip, and the autonomous driving domain controller also includes a second Ethernet PHY chip, which is connected to the first Ethernet PHY chip via Ethernet. The step of sending a pulse signal to the test instrument through the I / O port of the autonomous driving domain controller in response to the power-on or wake-up of the autonomous driving domain controller further includes: In response to the power-on or wake-up of the autonomous driving domain controller, the central computing controller sends a first initialization pulse signal to the test instrument through the IO port, wherein the first initialization pulse signal is used to indicate that the central computing controller has completed the initialization of the second Ethernet PHY chip.

8. The method according to claim 7, wherein, The test data includes a first duration and a second duration; the pulse moment corresponding to the first initialization pulse signal is taken as the first initialization pulse moment. The first duration refers to the time from power-on or wake-up of the autonomous driving domain controller to the completion of initialization of the second Ethernet PHY chip by subtracting the first initialization pulse time from the initialization time. The second duration refers to the time from the completion of initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection, obtained by subtracting the connection time from the first initialization pulse time.

9. The method according to claim 6, wherein, The tester includes a first Ethernet PHY chip, and the autonomous driving domain controller also includes a second Ethernet PHY chip, which is connected to the first Ethernet PHY chip via Ethernet. The second initialization pulse signal indicates that the central computing controller has completed the initialization of the second Ethernet PHY chip, and the microcontroller communicates with the central computing controller via the network.

10. The method according to claim 9, wherein, The test data includes the third duration and the fourth duration; The third duration refers to: calculating the first difference between the second initialization pulse time and the initial time, and subtracting the first difference from the delay value to obtain the time corresponding to the autonomous driving domain controller from power-on or wake-up to the completion of initialization of the second Ethernet PHY chip; The fourth duration refers to: calculating the second difference between the connection time and the second initialization pulse time, and summing the second difference with the delay value to obtain the time from the completion of the initialization of the second Ethernet PHY chip to the establishment of the Ethernet connection.

11. The method according to claim 6, wherein, The T is obtained by the microcontroller through a link latency test with the central computing controller.

12. A testing apparatus for an autonomous driving domain controller, configured in a testing instrument, the apparatus comprising: The first recording module is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment. The second recording module is used to record the time when the pulse signal is obtained from the IO port of the autonomous driving domain controller as the pulse time, wherein the pulse signal is used to represent the preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection; The third recording module is used to record the establishment time of the Ethernet connection as the connection time. The calculation module is used to calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the pulse time, and the connection time. The autonomous driving domain controller includes a central computing controller and a microcontroller; the pulse signal includes a second initialization pulse signal. Wherein, the pulse time corresponding to the second initialization pulse signal is taken as the second initialization pulse time; the calculation module includes a second calculation submodule, the second calculation submodule including: The delay pulse timing recording unit is used to record the timing of obtaining the delay pulse from the IO port as the delay pulse timing, wherein the delay pulse is sent by the microcontroller after a delay of T after sending the second initialization pulse signal, and T represents the delay value of the network communication between the microcontroller and the central computing controller; The delay value calculation unit is used to calculate the delay value based on the delay pulse time and the second initialization pulse time; The second calculation unit is used to calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the second initialization pulse time, the connection time, and the delay value.

13. A testing apparatus for an autonomous driving domain controller, configured on an autonomous driving domain controller, the apparatus comprising: A pulse signal transmitting module is used to send a pulse signal to the tester through the IO port of the autonomous driving domain controller in response to the power-on or wake-up of the autonomous driving domain controller. The pulse signal is used to indicate a preset node of the autonomous driving domain controller in the process of establishing an Ethernet connection. The tester is used to record the moment when the autonomous driving domain controller is powered on or woken up as the initial moment, the moment when the pulse signal is acquired as the pulse moment, the moment when the Ethernet connection is established as the connection moment, and to calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial moment, the pulse moment and the connection moment. The autonomous driving domain controller includes a central computing controller and a microcontroller; The pulse signal transmitting module includes a second transmitting submodule, which is specifically used to: in response to the power-on or wake-up of the autonomous driving domain controller, send a second initialization pulse signal to the test instrument through the IO port by the microcontroller; The device further includes a delayed pulse sending module, which is used to send a delayed pulse to the tester through the IO port after the microcontroller sends the second initialization pulse signal, with a delay of T. T represents the delay value for network communication between the microcontroller and the central computing controller. The tester is further configured to: record the time at which the delay pulse is acquired as the delay pulse time; calculate the delay value based on the delay pulse time and the second initialization pulse time; and calculate the test data corresponding to the preset node during the establishment of the Ethernet connection based on the initial time, the second initialization pulse time, the connection time, and the delay value.

14. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the test method for the autonomous driving domain controller according to any one of claims 1-5 and 6-11.

15. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the test method for the autonomous driving domain controller according to any one of claims 1-5 and 6-11.

16. A computer program product comprising a computer program that, when executed by a processor, implements a test method for an autonomous driving domain controller according to any one of claims 1-5 and 6-11.

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