V2X-based virtual-real fusion data synchronization test method, system, equipment and medium

Abstract

The present application discloses a V2X-based virtual-reality fusion data synchronization test method, system, device and medium, and relates to the field of vehicle technology. The method includes: determining the initial moment of the tested vehicle according to a first moment subset, and at the same time, determining the initial moment of the background vehicle according to a second moment subset; determining the standard moment according to the size relationship between the initial moment of the tested vehicle and the initial moment of the background vehicle, and the size relationship between the first time interval and the second time interval; when the standard moment belongs to the first moment subset, using the standard moment as the first recorded moment of the tested vehicle and matching the corresponding first parameter data; selecting the second sub-moment in the second moment subset with the smallest absolute value of the difference with the standard moment, using the second sub-moment as the first recorded moment of the background vehicle and matching the corresponding second parameter data; repeating the above steps, and generating a synchronization database according to the first synchronization data set and the second synchronization data set; improving data synchronization.

Description

Technical Field

[0001] The present application generally relates to the field of vehicle technology, and specifically to a V2X-based virtual-real fusion data synchronization testing method, system, device and medium. Background Art

[0002] Vehicle-to-X (V2X) wireless communication technology enables communication between a vehicle and any entities affected by it. V2X enables the sharing of various status information between different vehicles and entities, enabling the development of a variety of typical application functions based on this shared information.

[0003] At present, V2X-based application function testing generally adopts actual road testing methods. Its advantage is that the test data results are highly reliable, but there are hidden dangers in test efficiency and test safety. Therefore, simulation testing methods have been derived to solve the problems of poor test efficiency and test safety in actual vehicle testing.

[0004] However, existing simulation testing methods directly utilize collected real-world road, test vehicle, surrounding vehicles, and roadside information to construct simulation scenarios. This ignores the significant latency differences and data biases that can occur between devices when replaying the simulation scenarios. This can lead to discrepancies between test results and the real world during subsequent testing. Therefore, we propose a V2X-based method, system, device, and medium for synchronized testing of virtual and real-world fusion data to address these issues. Summary of the Invention

[0005] The present application provides a V2X-based virtual-reality fusion data synchronization test method, system, equipment and medium to improve data synchronization.

[0006] In a first aspect, the present application provides a V2X-based virtual-real fusion data synchronization test method, comprising the following steps:

[0007] Acquire multiple first time subsets of the tested vehicle and multiple second time subsets of the background vehicles; each of the first time subsets includes: multiple first sub-times with the same first time interval and corresponding first parameter data; each of the second time subsets includes: multiple second sub-times with the same second time interval and corresponding second parameter data;

[0008] Determining an initial time of the detected vehicle based on a plurality of first time subsets, and simultaneously determining an initial time of background vehicles based on a plurality of second time subsets;

[0009] Determine the standard time according to the relationship between the initial time of the tested vehicle and the initial time of the background vehicle, and the relationship between the first time interval and the second time interval;

[0010] When the standard time belongs to the first time subset, the standard time is used as the first recorded time of the tested vehicle and matched with the corresponding first parameter data;

[0011] Selecting a second sub-time with the smallest absolute value of difference from the standard time in the second time subset, using the second sub-time as the first recording time of the background vehicle and matching the corresponding second parameter data;

[0012] taking the next moment adjacent to the standard moment in the first time subset as the second recorded moment of the tested vehicle and matching the corresponding first parameter data;

[0013] Selecting a second sub-moment in the second time subset whose absolute value of difference with the second recorded time of the tested vehicle is the smallest, taking the second sub-moment as the second recorded time of the background vehicle and matching the corresponding second parameter data;

[0014] Repeat the above steps to obtain a first synchronous data set of the tested vehicle and a second synchronous data set of the background vehicles; and generate a synchronous database based on the first synchronous data set and the second synchronous data set.

[0015] According to the technical solution provided by this application, obtaining multiple first-time subsets of the tested vehicle specifically includes the following steps:

[0016] Acquire a first sending time set of the tested vehicle; the first sending time set includes: a plurality of consecutive first sending time points and corresponding first parameter data;

[0017] Dividing the first sending time set into a plurality of first time groups; each of the first time groups includes two adjacent first sending time moments and corresponding first parameter data;

[0018] A plurality of first preset moments are inserted between two first sending moments of each of the first moment groups according to a first time interval, and corresponding first parameter data are matched for each first preset moment to obtain a plurality of first moment subsets.

[0019] According to the technical solution provided by this application, the first time interval is calculated according to the following formula:

[0020] ;

[0021] in, is the first time interval, h is the number of first sending moments in the same first moment group, t his the hth first sending moment in the same first moment group, m is the sum of the number of first sending moments in the same first moment group and the number of first preset moments inserted into the first sending moment, n is the acquisition frequency, L is the acquisition positioning accuracy, V max is the maximum speed of the vehicle.

[0022] According to the technical solution provided by this application, the standard time is determined according to the following steps:

[0023] When the initial time of the tested vehicle is greater than the initial time of the background vehicle, and the first time interval is greater than or equal to the second time interval, selecting the second sub-time in the second time subset with the minimum absolute value of the difference between the initial time of the tested vehicle and the second sub-time as the standard time;

[0024] When the initial time of the tested vehicle is greater than the initial time of the background vehicle, and the first time interval is less than the second time interval, the initial time of the tested vehicle is used as the standard time;

[0025] When the initial time of the tested vehicle is less than or equal to the initial time of the background vehicle, and the first time interval is greater than or equal to the second time interval, the initial time of the background vehicle is used as the standard time;

[0026] When the initial moment of the tested vehicle is less than or equal to the initial moment of the background vehicle, and the first time interval is less than the second time interval, the first sub-moment in the first time subset with the smallest absolute value of the difference between the initial moment of the background vehicle is selected as the standard moment.

[0027] According to the technical solution provided by this application, the method further includes the following steps:

[0028] Obtaining the collection frequency of the road environment and the collection frequency of the vehicle at the standard time;

[0029] When the collection frequency of the road environment is different from the collection frequency of the vehicle belonging to the standard time, a third sending time set of the road environment is obtained; the third sending time set includes: a plurality of consecutive third sending times and corresponding third parameter data;

[0030] Dividing the third sending time set into a plurality of third time groups; each of the third time groups includes two adjacent third sending time periods and corresponding third parameter data;

[0031] Determining a third time interval according to the subset of time to which the standard time belongs;

[0032] Insert multiple third preset moments between the two third sending moments of each third moment group according to the third time interval, and match corresponding third parameter data for each third preset moment to obtain a third synchronization data set of the road environment; and add the third synchronization data set to the synchronization database.

[0033] According to the technical solution provided by this application, the method further includes the following steps:

[0034] When the collection frequency of the road environment is the same as the collection frequency of the vehicle at the standard time, the third sending time set obtained by the road environment according to the current collection frequency is the third synchronization data set.

[0035] In a second aspect, the present application provides a V2X-based virtual-real fusion data synchronization test system capable of implementing the above method, the system comprising:

[0036] A data acquisition module, configured to acquire a plurality of first time subsets of the tested vehicle and a plurality of second time subsets of the background vehicles; each of the first time subsets includes: a plurality of first sub-times having the same first time interval and corresponding first parameter data; each of the second time subsets includes: a plurality of second sub-times having the same second time interval and corresponding second parameter data;

[0037] The processing module is configured to determine an initial time of a vehicle under test based on a plurality of first time subsets, and simultaneously determine an initial time of background vehicles based on a plurality of second time subsets; determine a standard time based on a magnitude relationship between the initial time of the vehicle under test and the initial time of the background vehicles, and a magnitude relationship between the first time interval and the second time interval; when the standard time belongs to the first time subset, use the standard time as the first recorded time of the vehicle under test and match it with corresponding first parameter data; select a second sub-time in the second time subset with the smallest absolute value of the difference from the standard time, use the second sub-time as the first recorded time of the background vehicles and match it with corresponding second parameter data; use the next time in the first time subset adjacent to the standard time as the second recorded time of the vehicle under test and match it with corresponding first parameter data; select a second sub-time in the second time subset with the smallest absolute value of the difference from the second recorded time of the vehicle under test, use the second sub-time as the second recorded time of the background vehicles and match it with corresponding second parameter data; repeat the above steps to obtain a first synchronized data set for the vehicle under test and a second synchronized data set for the background vehicles; and generate a synchronized database based on the first synchronized data set and the second synchronized data set.

[0038] According to the technical solution provided by the present application, the data acquisition module is further used to obtain a first transmission time set of the tested vehicle; the first transmission time set includes: a plurality of consecutive first transmission time points and corresponding first parameter data;

[0039] The processing module is also used to divide the first sending moment set into multiple first moment groups; each first moment group includes two adjacent first sending moments and corresponding first parameter data; multiple first preset moments are inserted between the two first sending moments in each first moment group according to the first time interval, and corresponding first parameter data is matched for each first preset moment to obtain multiple first moment subsets.

[0040] According to the technical solution provided by the present application, the data acquisition module is further configured to obtain a third set of sending moments of the road environment when the collection frequency of the road environment is different from the collection frequency of the vehicle belonging to the standard time; the third set of sending moments includes: a plurality of consecutive third sending moments and corresponding third parameter data;

[0041] The processing module is also used to divide the third sending moment set into multiple third moment groups; each of the third moment groups includes two adjacent third sending moments and corresponding third parameter data; determine the third time interval based on the moment subset to which the standard moment belongs; insert multiple third preset moments between the two third sending moments in each of the third moment groups according to the third time interval, and match the corresponding third parameter data for each third preset moment to obtain a third synchronization data set of the road environment; and add the third synchronization data set to the synchronization database.

[0042] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned V2X-based virtual-reality fusion data synchronization test method are implemented.

[0043] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the above-mentioned V2X-based virtual-reality fusion data synchronization testing method.

[0044] It can be seen from the above technical solution that this application has at least the following beneficial effects:

[0045] The present application discloses a V2X-based virtual-reality fusion data synchronization test method, which includes: first obtaining multiple first time subsets of the tested vehicle and multiple second time subsets of the background vehicles; then determining the initial time of the tested vehicle based on the first time subset, and at the same time, determining the initial time of the background vehicles based on the second time subset; determining the standard time based on the size relationship between the initial time of the tested vehicle and the initial time of the background vehicles, as well as the size relationship between the first time interval and the second time interval; when the standard time belongs to the first time subset, using the standard time as the first recorded time of the tested vehicle and matching the corresponding first parameter data; screening the second time subset and the standard time The second sub-moment with the smallest absolute value of the difference is selected, and the second sub-moment is used as the first recording moment of the background vehicle and matched with the corresponding second parameter data; the next moment adjacent to the standard moment in the first moment subset is used as the second recording moment of the measured vehicle and matched with the corresponding first parameter data; the second sub-moment with the smallest absolute value of the difference between the second moment subset and the second recording moment of the measured vehicle is selected, and the second sub-moment is used as the second recording moment of the background vehicle and matched with the corresponding second parameter data; the above steps are repeated to finally obtain the first synchronous data set of the measured vehicle and the second synchronous data set of the background vehicle; and a synchronous database is generated based on the first synchronous data set and the second synchronous data set.

[0046] In the method, multiple first time subsets of the tested vehicle and multiple second time subsets of the background vehicles are first obtained, and the initial times of the two time subsets are respectively obtained. Based on the size relationship between the two initial times and the size relationship between the first time interval and the second time interval, a standard time is found. With the standard time as a reference, it is determined whether the standard time is the first recorded time of the tested vehicle or the background vehicle, and the corresponding parameter data is matched. Then, a sub-time with the smallest absolute value of the difference between the standard time and another time subset is found, and the sub-time is used as the first recorded time of the corresponding vehicle and the corresponding parameter data is matched. Then, the next time adjacent to the standard time in the same time subset is found as the second recorded time of the corresponding vehicle and the corresponding parameter data is matched. Similarly, a sub-time in another time subset is determined as the second recorded time of the corresponding vehicle and the corresponding parameter data is matched. The above steps are repeated until the first synchronized data set of the tested vehicle and the second synchronized data set of the background vehicle are obtained, and the data are completely synchronized. A synchronization database is generated based on the first synchronized data set and the second synchronized data set.

[0047] This application obtains a subset of moments in which data is inserted at two adjacent sending moments according to corresponding time intervals, and then uses the standard moment as a benchmark to correspond and match the data of the two vehicles, thereby obtaining two sets of synchronized data sets and merging them to generate a synchronized database. The data information in the synchronized database is then used to build a simulation scenario to avoid data deviations that affect the accuracy and authenticity of subsequent test experiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings.

[0049] Figure 1 A schematic diagram of a data collection scenario.

[0050] Figure 2 The figure is a flowchart of the V2X-based virtual-reality fusion data synchronization test method.

[0051] Figure 3 A flowchart for obtaining multiple first-moment subsets of a tested vehicle.

[0052] Figure 4 This is a structural diagram of the V2X-based virtual-reality fusion data synchronization test system.

[0053] Figure 5 A schematic diagram of the structure of an electronic device.

[0054] Figure 6 Schematic diagram for determining standard time.

[0055] Numbers in the figure: 1, data acquisition module; 2, processing module; 3, measured vehicle; 4, background vehicle; 5, roadside facilities;

[0056] 500. Electronic device; 501. CPU; 502. ROM; 503. RAM; 504. Bus; 505. I / O interface; 506. Input part; 507. Output part; 508. Storage part; 509. Communication part; 510. Drive; 511. Removable media. DETAILED DESCRIPTION

[0057] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0058] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0059] Based on V2X, various status information can be shared between different vehicles and entities, and various typical application functions can be developed through shared information.

[0060] For example, a data collector is installed on a test vehicle. Surrounded by at least one background vehicle and roadside infrastructure, the data collector, using V2X, collects signals carrying relevant data from the test vehicle, background vehicles, and roadside infrastructure at their own transmission frequencies. A simulation scenario is constructed using the data collected by the data collector over a specific time period. However, due to the varying transmission times of the data, time differences exist between the data in the replicated simulation scenario. If a simulation test is performed using this simulation scenario, the resulting test results may not match the actual situation, affecting test accuracy.

[0061] In view of this, the embodiments of the present application provide a V2X-based virtual-reality fusion data synchronization test method. The method can be executed by a computing device, a vehicle, or a control system in a vehicle. The present application does not limit the execution subject of the method. Specifically, the method includes:

[0062] First, multiple first moment subsets of the tested vehicle and multiple second moment subsets of the background vehicles are obtained, and the initial moments of the two moment subsets are obtained respectively. Based on the size relationship between the two initial moments, as well as the size relationship between the first time interval and the second time interval, the standard moment is found. Taking the standard moment as the benchmark, it is determined whether the standard moment is the first recorded moment of the tested vehicle or the background vehicle, and the corresponding parameter data is matched. Then, the sub-moment with the smallest absolute value of the difference between the sub-moment and the standard moment in another moment subset is found, and the sub-moment is used as the first recorded moment of the corresponding vehicle and the corresponding parameter data is matched. Then, the next moment adjacent to the standard moment in the same moment subset is found as the second recorded moment of the corresponding vehicle and the corresponding parameter data is matched. Similarly, the sub-moment in another moment subset is determined as the second recorded moment of the corresponding vehicle and the corresponding parameter data is matched. Repeat the above steps until the first synchronized data set of the tested vehicle and the second synchronized data set of the background vehicle whose data are completely synchronized are obtained. This application obtains a subset of moments in which data is inserted at two adjacent sending moments according to corresponding time intervals, and then uses the standard moment as a benchmark to correspond and match the data of the two vehicles to obtain two sets of synchronized data sets. These two sets of data sets are then used to build a simulation scenario to avoid data deviations that affect the accuracy and authenticity of subsequent test experiments.

[0063] In order to make the V2X-based virtual-real fusion data synchronization test method provided in the embodiment of the present application clearer and easier to understand, the method is introduced below with reference to the accompanying drawings. Figure 1 As shown, this figure is a schematic diagram of a data collection scenario provided in an embodiment of the present application.

[0064] In this data collection scenario, there is a tested vehicle 3, a background vehicle 4 and two roadside facilities 5. The background vehicle 4 and the roadside facilities 5 respectively conduct V2X communication with the tested vehicle; the tested vehicle 3 is equipped with an on-board unit (OBU) and a signal collector, the background vehicle 4 is equipped with an on-board unit, one roadside facility 5 is equipped with a roadside unit and a traffic light, and the other roadside facility 5 is equipped with a roadside unit and a road sign; wherein, the on-board unit of the background vehicle 4 is used to send background vehicle information, the on-board unit of the tested vehicle 3 is used to send tested vehicle information, and the roadside unit is used to send roadside facility information; one roadside facility information includes information such as sending time, roadside unit number, map file, traffic light phase, light color and remaining time, and the other roadside facility information includes information such as sending time, roadside unit number, map file, road sign, sign section, etc.; the signal collector is used to collect data information sent by the on-board unit and the roadside unit. Since the sending times between the on-board units of different vehicles, between different roadside units, and between the on-board units and roadside units are different, for example, a certain period of time on February 3, 2024 is selected, and the sending times of the background vehicle 4 are, for example, 15:17:07, 15:17:17, 15:17:27, ..., and the sending times of the tested vehicle 3 are 15:17:12, 15:17:18, 15:17:24, ..., so all data information collected by the signal collector needs to be synchronized according to the method of this application to ensure that the final simulation scene is the same as the real scene, and the simulation test results are more accurate, which has positive guiding significance.

[0065] In order to make the V2X-based virtual-real fusion data synchronization test method provided in the embodiment of the present application clearer and easier to understand, the method is introduced below with reference to the accompanying drawings. Figure 2 As shown in the figure, this figure is a flow chart of a V2X-based virtual-real fusion data synchronization test method provided by this application, which includes the following steps:

[0066] S10. Acquire multiple first moment subsets of the tested vehicle and multiple second moment subsets of the background vehicles; each first moment subset includes: multiple first sub-moments with the same first time interval and corresponding first parameter data; each second moment subset includes: multiple second sub-moments with the same second time interval and corresponding second parameter data.

[0067] It should be noted that the first parameter data includes, but is not limited to, vehicle identification, GPS location, heading angle, vehicle speed, and vehicle acceleration. Here, the vehicle identification is, for example, the license plate number or vehicle model. The second parameter data includes the same information as the first parameter data and will not be further described here.

[0068] In addition, the first moment subset and the second moment subset are obtained in the same manner.

[0069] How to obtain the sub-collection at the first moment:

[0070] like Figure 3 As shown, obtaining multiple first-moment subsets of the tested vehicle specifically includes the following steps:

[0071] S101. Obtain a first sending time set of a tested vehicle; the first sending time set includes: a plurality of consecutive first sending time points and corresponding first parameter data.

[0072] The multiple consecutive first sending time points refer to the first sending time points being arranged in ascending order of time, and the intervals between any two adjacent first sending time points are the same.

[0073] S102: Divide the first sending time set into multiple first time groups; each first time group includes two adjacent first sending time points and corresponding first parameter data.

[0074] S103: Insert multiple first preset moments between two first sending moments in each first moment group according to a first time interval, and match corresponding first parameter data for each first preset moment to obtain multiple first moment subsets.

[0075] Multiple first preset moments are inserted between two first sending moments of the same moment group based on the first time interval. Correspondingly, interpolation data are inserted between the first parameter data corresponding to the two first sending moments according to the number of first preset moments, and the interval between adjacent interpolation data corresponds to the first time interval. The interpolation data is then matched with the corresponding first preset moments. At this time, a first moment subset is obtained. Repeat the above steps to obtain multiple first moment subsets.

[0076] The first time interval is calculated according to the following formula:

[0077] ;

[0078] in, is the first time interval, the unit is s; h is the number of first sending moments in the same first moment group, t his the hth first sending moment in the same first moment group, and its unit is s; m is the sum of the number of first sending moments in the same first moment group and the number of first preset moments inserted into the first sending moment; n is the acquisition frequency, and its unit is Hz; L is the acquisition positioning accuracy, and its unit is m; V max is the maximum speed of the vehicle, in m / s.

[0079] Here, the acquisition positioning accuracy is, for example, 0.1 m.

[0080] Similarly, the method of obtaining the subset at the second moment is:

[0081] Obtain a set of first transmission times for background vehicles; the first transmission time set includes: a plurality of consecutive second transmission times and corresponding second parameter data. Here, the plurality of consecutive second transmission times refers to the second transmission times being arranged in ascending time order, with the interval between any two adjacent second transmission times being the same.

[0082] The second sending time set is divided into a plurality of second time groups; each second time group includes two adjacent second sending time moments and corresponding second parameter data.

[0083] Multiple second preset moments are inserted between two second transmission moments in the same moment group, based on the second time interval. Accordingly, interpolated data is inserted between the second parameter data corresponding to the two second transmission moments, based on the number of second preset moments, with the interval between adjacent interpolated data corresponding to the second time interval. The interpolated data is then matched with the corresponding second preset moments to obtain a second moment subset. Repeating the aforementioned steps can obtain multiple second moment subsets. The calculation formula for the second time interval is the same as the calculation formula for the first time interval.

[0084] S20. Determine the initial time of the detected vehicle according to the multiple first time subsets, and at the same time, determine the initial time of the background vehicles according to the multiple second time subsets.

[0085] Find the first-ranked subset of moments in chronological order, and then use the first-ranked sub-moment in the first-ranked subset of moments as the initial moment of the vehicle under test; similarly, find the second-ranked subset of moments in chronological order, and then use the second-ranked sub-moment in the second-moment subset as the initial moment of the background vehicle.

[0086] S30. Determine the standard time according to the relationship between the initial time of the tested vehicle and the initial time of the background vehicles, and the relationship between the first time interval and the second time interval.

[0087] Based on the size relationship between the two initial moments and the size relationship between the two time intervals, a standard moment is determined, and the standard moment is used as a benchmark for data synchronization.

[0088] Specifically, the standard time is determined according to the following steps:

[0089] When the initial moment of the tested vehicle is greater than the initial moment of the background vehicle, and the first time interval is greater than or equal to the second time interval, the second sub-moment in the second time subset with the smallest absolute value of the difference between the initial moment of the tested vehicle and the first sub-moment is selected as the standard moment.

[0090] Among them, such as Figure 6 As shown in the figure, Th represents the first time interval of the detected vehicle; Tr represents the second time interval of the background vehicle. Figure 6 The situation (01) in the example is: the initial moment of the tested vehicle is greater than the initial moment of the background vehicle, and the first time interval is greater than or equal to the second time interval. It can be seen that the initial moment of the tested vehicle is larger. Only when the data of the tested vehicle is collected, the data of the tested vehicle and the background vehicle are valid, that is, the moment of collecting data is valid from this moment. However, the first time interval is larger and cannot meet the minimum time interval and positioning accuracy requirements. Therefore, it is necessary to screen the second sub-moment in the second time subset with the smallest absolute value of the difference between the initial moment of the tested vehicle and the second sub-moment, and use the second sub-moment as the standard moment. This can ensure that the interval between the data is minimized and the positioning accuracy is met.

[0091] When the initial time of the detected vehicle is greater than the initial time of the background vehicle, and the first time interval is less than the second time interval, the initial time of the detected vehicle is used as the standard time.

[0092] Among them, such as Figure 6 As shown in the figure, the situation (02) is: the initial moment of the measured vehicle is greater than the initial moment of the background vehicle, and the first time interval is less than the second time interval. It can be seen that the initial moment of the measured vehicle is larger. Only when the data of the measured vehicle is collected, the data of the measured vehicle and the background vehicle are valid, that is, the moment of collecting data is valid from this moment. Since the first time interval is small, the interval between the data can be kept to the minimum and the positioning accuracy can be met. Therefore, the initial moment of the measured vehicle is the standard moment.

[0093] When the initial time of the measured vehicle is less than or equal to the initial time of the background vehicle, and the first time interval is greater than or equal to the second time interval, the initial time of the background vehicle is used as the standard time.

[0094] Among them, such as Figure 6As shown in the figure, the situation (03) is: the initial moment of the measured vehicle is less than or equal to the initial moment of the background vehicle, and the first time interval is greater than or equal to the second time interval. It can be seen that the initial moment of the background vehicle is larger. Only when the data of the background vehicle is collected, the data of the measured vehicle and the background vehicle are valid, that is, the moment of collecting data is valid from this moment. Since the second time interval is smaller, the interval between the data can be kept to the minimum and the positioning accuracy can be met. Therefore, the initial moment of the background vehicle is the standard moment.

[0095] When the initial moment of the tested vehicle is less than or equal to the initial moment of the background vehicle, and the first time interval is less than the second time interval, the first sub-moment in the first time subset with the smallest absolute value of the difference between the initial moment of the background vehicle and the first sub-moment is selected as the standard moment.

[0096] Among them, such as Figure 6 As shown in the figure, the situation (04) is: the initial moment of the measured vehicle is less than or equal to the initial moment of the background vehicle, and the first time interval is less than the second time interval. It can be seen that the initial moment of the background vehicle is larger. Only when the data of the background vehicle is collected, the data of the measured vehicle and the background vehicle are valid, that is, the moment of collecting data is valid from this moment. However, the second time interval is larger and cannot meet the minimum time interval and positioning accuracy requirements. Therefore, it is necessary to screen the first sub-moment with the smallest absolute value of the difference between the first moment subset and the initial moment of the measured vehicle, and use the first sub-moment as the standard moment. In this way, the interval between the data can be minimized and the positioning accuracy can be met.

[0097] S40: When the standard time belongs to the first time subset, the standard time is used as the first recorded time of the tested vehicle and matched with the corresponding first parameter data.

[0098] If the standard time is obtained in the second time subset, then the standard time is used as the first recording time of the background vehicle. The corresponding parameter data is obtained from the corresponding time subset.

[0099] S50 , selecting a second sub-time with the smallest absolute difference from the standard time in the second time subset, taking the second sub-time as the first recording time of the background vehicle and matching the corresponding second parameter data.

[0100] The second sub-moment with the smallest absolute difference from the standard time in the second time subset is selected, and the second sub-moment is used as the first recording time of the background vehicle to ensure that the interval between data is minimized and the positioning accuracy is guaranteed.

[0101] S60: Use the next moment adjacent to the standard moment in the first moment subset as the second recorded moment of the tested vehicle and match it with the corresponding first parameter data.

[0102] The next moment adjacent to the standard moment in the first moment subset refers to the next moment after the standard moment is found in chronological order.

[0103] S70 , selecting a second sub-time in the second time subset with the smallest absolute value of the difference between the second sub-time and the second recorded time of the tested vehicle, taking the second sub-time as the second recorded time of the background vehicle and matching the corresponding second parameter data.

[0104] S80 , repeat the above steps to obtain a first synchronous data set of the tested vehicle and a second synchronous data set of background vehicles; and generate a synchronous database based on the first synchronous data set and the second synchronous data set.

[0105] After the above steps, the data of the first synchronous data set and the second synchronous data set are corresponding. At this time, the time difference between the tested vehicle and the background vehicle is small. The time of the tested vehicle in the first synchronous data set can be used as a benchmark to sort out the first parameter data of the tested vehicle and the second parameter data of the background vehicle to obtain a synchronous database, which meets the requirements of building a simulation scenario and can avoid data deviations that affect the accuracy and authenticity of subsequent test experiments.

[0106] The synchronization database is shown in Table 1.

[0107] Table 1 Synchronous database generated by the tested vehicle and background vehicles

[0108]

[0109] For example, S1 in Table 1 represents the first recording time of the tested vehicle, A1 in Table 1 represents the first first parameter data in the first synchronous data set, and B1 in Table 1 represents the first second parameter data in the second synchronous data set.

[0110] The following describes the road environment data synchronization strategy provided by the embodiment of the present application. This data synchronization strategy is similar to the above method and specifically includes the following steps:

[0111] Obtain the collection frequency of the road environment and the collection frequency of the vehicle at the standard time.

[0112] The road environment refers to the roadside environment, such as traffic lights, road signs, etc.

[0113] When the collection frequency of the road environment is different from the collection frequency of the vehicle at the standard time, a third sending time set of the road environment is obtained; the third sending time set includes: multiple consecutive third sending times and corresponding third parameter data.

[0114] Among them, the third parameter data includes at least: roadside unit number, map file, traffic light phase, light color and remaining time, road signs, and sign sections.

[0115] The third sending time set is divided into a plurality of third time groups; each third time group includes two adjacent third sending time moments and corresponding third parameter data.

[0116] A third time interval is determined according to the time subset to which the standard time belongs.

[0117] If the standard time belongs to the first time subset, the first time interval is the third time interval; if the standard time belongs to the second time subset, the second time interval is the third time interval. Here, the calculation formula for the third time interval is the same as the calculation formula for the first time interval.

[0118] Insert multiple third preset moments between the two third sending moments of each third moment group according to the third time interval, and match corresponding third parameter data for each third preset moment to obtain a third synchronization data set of the road environment; and add the third synchronization data set to the synchronization database.

[0119] The synchronization database to which the third synchronization data set is added is shown in Table 2.

[0120] Table 2 Synchronization database with the third synchronization data set added

[0121]

[0122] It should be noted that, in Table 2, C1 represents the first third parameter data in the third synchronization data set.

[0123] Multiple third preset moments are inserted between two third sending moments of the same moment group based on the third time interval. Accordingly, the third parameter data corresponding to the two third sending moments are equally divided according to the number of third preset moments, and the equally divided third parameter data are used as interpolation data to match the corresponding third preset moments, so as to finally obtain the third synchronization data set of the road environment and merge the third synchronization data set into the synchronization database.

[0124] In addition, when the collection frequency of the road environment is the same as the collection frequency of the vehicle at the standard time, the third sending time set obtained by the road environment according to the current collection frequency is the third synchronization data set.

[0125] The simulation scene is built based on the synchronous database generated based on the above-mentioned first synchronous data set, second synchronous data set and third synchronous data set, so that the information of the tested vehicle, the information of the background vehicle and the road environment correspond in real time, and the real scene can be completely restored, so that subsequent simulation test experiments will be more realistic and accurate.

[0126] Combined with the above Figure 2 、 Figure 3 The V2X-based virtual-reality fusion data synchronization testing method provided in the embodiment of the present application is introduced in detail. The system and equipment provided in the embodiment of the present application will be introduced in conjunction with the accompanying drawings.

[0127] like Figure 4 As shown, the present application provides a V2X-based virtual-real fusion data synchronization test system that can implement the above method. The system includes:

[0128] The data acquisition module 1 is configured to acquire a plurality of first-moment subsets of the tested vehicle 3 and a plurality of second-moment subsets of the background vehicles 4; each first-moment subset includes: a plurality of first sub-moments having the same first time interval and corresponding first parameter data; each second-moment subset includes: a plurality of second sub-moments having the same second time interval and corresponding second parameter data;

[0129] The processing module 2 is configured to determine an initial time of the vehicle under test 3 based on a plurality of first time subsets, and simultaneously determine an initial time of the background vehicle 4 based on a plurality of second time subsets; determine a standard time based on the size relationship between the initial time of the vehicle under test 3 and the initial time of the background vehicle 4, and the size relationship between the first time interval and the second time interval; when the standard time belongs to the first time subset, use the standard time as the first recorded time of the vehicle under test 3 and match it with the corresponding first parameter data; select a second sub-time in the second time subset with the smallest absolute value of the difference between the standard time and the first sub-time, use the second sub-time as the first recorded time of the background vehicle 4 and match it with the corresponding second parameter data; use the next time in the first time subset adjacent to the standard time as the second recorded time of the vehicle under test 3 and match it with the corresponding first parameter data; select a second sub-time in the second time subset with the smallest absolute value of the difference between the second recorded time of the vehicle under test 3 and the second sub-time, use the second sub-time as the second recorded time of the background vehicle 4 and match it with the corresponding second parameter data; repeat the above steps to obtain a first synchronized data set for the vehicle under test 3 and a second synchronized data set for the background vehicle 4; and generate a synchronized database based on the first synchronized data set and the second synchronized data set.

[0130] According to the technical solution provided by the present application, the data acquisition module 1 is further used to obtain a first transmission time set of the tested vehicle 3; the first transmission time set includes: a plurality of consecutive first transmission times and corresponding first parameter data;

[0131] Processing module 2 is also used to divide the first sending moment set into multiple first moment groups; each first moment group includes two adjacent first sending moments and corresponding first parameter data; multiple first preset moments are inserted between the two first sending moments in each first moment group according to the first time interval, and corresponding first parameter data is matched for each first preset moment to obtain multiple first moment subsets.

[0132] According to the technical solution provided by the present application, the data acquisition module 1 is further configured to obtain a third transmission time set of the road environment when the collection frequency of the road environment is different from the collection frequency of the vehicle belonging to the standard time; the third transmission time set includes: multiple consecutive third transmission times and corresponding third parameter data;

[0133] Processing module 2 is also used to divide the third sending moment set into multiple third moment groups; each third moment group includes two adjacent third sending moments and corresponding third parameter data; determine the third time interval according to the moment subset to which the standard moment belongs; insert multiple third preset moments between the two third sending moments in each third moment group according to the third time interval, and match the corresponding third parameter data for each third preset moment to obtain a third synchronization data set of the road environment; and add the third synchronization data set to the synchronization database.

[0134] The present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a V2X-based virtual-reality fusion data synchronization test method as described in the above embodiment are implemented.

[0135] Among them, such as Figure 5 As shown, electronic device 500 includes CPU 501, which can perform various appropriate actions and processes according to the program stored in ROM 502 or the program loaded from the storage part into RAM 503. Various programs and data required for system operation are also stored in RAM 503. CPU 501, ROM 502 and RAM 503 are connected to each other via bus 504. I / O interface 505 is also connected to bus 504.

[0136] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 508 including devices such as a hard disk; and a communication section 509 including a network interface card such as a LAN card or a modem. The communication section 509 performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface 505 as needed. Removable media 511, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 510 as needed, so that computer programs read therefrom can be installed into the storage section 508 as needed.

[0137] In particular, according to the embodiments of the present application, the above reference process Figure 1 The described process can be implemented as a computer software program. For example, the present application includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component and / or installed from a removable medium. When the computer program is executed by CPU 501, the above-described functions defined in the system of the present application are performed.

[0138] It should be noted that the computer-readable medium described in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, RAM (random access memory), ROM (read-only memory), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0139] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0140] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be provided in a processor. The names of these units do not, in certain circumstances, constitute limitations on the units themselves. The units or modules described may also be provided in a processor.

[0141] This application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments, or may exist independently without being incorporated into the electronic device. The computer-readable medium carries one or more programs, and when executed by the electronic device, the electronic device implements the V2X-based virtual-reality fusion data synchronization testing method described in the above embodiments.

[0142] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

Claims

1. A V2X-based virtual-real fusion data synchronization test method, characterized in that: The following steps are involved: Acquire multiple first-time subsets of the tested vehicle and multiple second-time subsets of the background vehicles; Each of the first time subsets includes: a plurality of first sub-times with the same first time interval and corresponding first parameter data; each of the second time subsets includes: a plurality of second sub-times with the same second time interval and corresponding second parameter data; Determine the initial time of the detected vehicle according to the plurality of first time subsets, and at the same time, determine the initial time of the background vehicle according to the plurality of second time subsets; Determine the standard time according to the size relationship between the initial time of the tested vehicle and the initial time of the background vehicle, and the size relationship between the first time interval and the second time interval; When the standard time belongs to the first time subset, the standard time is used as the first recorded time of the tested vehicle and matched with the corresponding first parameter data; Selecting a second sub-time with the smallest absolute value of difference from the standard time in the second time subset, taking the second sub-time as the first recording time of the background vehicle and matching the corresponding second parameter data; Taking the next moment in the first moment subset adjacent to the standard moment as the second recorded moment of the tested vehicle and matching the corresponding first parameter data; Selecting a second sub-time in the second time subset whose absolute value of difference with the second recording time of the tested vehicle is the smallest, taking the second sub-time as the second recording time of the background vehicle and matching the corresponding second parameter data; Repeat the above steps to obtain a first synchronous data set of the tested vehicle and a second synchronous data set of the background vehicle; and generate a synchronous database according to the first synchronous data set and the second synchronous data set; Acquiring multiple first-moment subsets of the tested vehicle specifically includes the following steps: Acquire a first sending time set of the tested vehicle; the first sending time set includes: a plurality of consecutive first sending times and corresponding first parameter data; Dividing the first sending time set into a plurality of first time groups; each of the first time groups includes two adjacent first sending time periods and corresponding first parameter data; Inserting a plurality of first preset moments between two first sending moments of each of the first moment groups according to a first time interval, and matching corresponding first parameter data for each first preset moment to obtain a plurality of first moment subsets; The first time interval is calculated according to the following formula: ； in, is the first time interval, h is the number of first sending moments in the same first moment group, t h is the hth first sending moment in the same first moment group, m is the sum of the number of first sending moments in the same first moment group and the number of first preset moments inserted into the first sending moment, n is the acquisition frequency, L is the acquisition positioning accuracy, V max is the maximum speed of the vehicle; Follow these steps to determine the standard time: When the initial time of the tested vehicle is greater than the initial time of the background vehicle, and the first time interval is greater than or equal to the second time interval, a second sub-time in the second time subset whose absolute value of the difference between the initial time of the tested vehicle and the tested vehicle is the smallest is selected as the standard time; When the initial time of the detected vehicle is greater than the initial time of the background vehicle, and the first time interval is less than the second time interval, the initial time of the detected vehicle is used as the standard time; When the initial time of the tested vehicle is less than or equal to the initial time of the background vehicle, and the first time interval is greater than or equal to the second time interval, the initial time of the background vehicle is used as the standard time; When the initial moment of the tested vehicle is less than or equal to the initial moment of the background vehicle, and the first time interval is less than the second time interval, the first sub-moment in the first time subset whose absolute value of the difference with the initial moment of the background vehicle is the smallest is selected as the standard moment.

2. The method according to claim 1, characterized in that The method further comprises the following steps: Obtaining the collection frequency of the road environment and the collection frequency of the vehicle at the standard time; When the collection frequency of the road environment is different from the collection frequency of the vehicle belonging to the standard time, a third sending time set of the road environment is obtained; the third sending time set includes: a plurality of continuous third sending times and corresponding third parameter data; Dividing the third sending time set into a plurality of third time groups; each of the third time groups includes two adjacent third sending time periods and corresponding third parameter data; Determine a third time interval according to the subset of time to which the standard time belongs; Insert multiple third preset moments between the two third sending moments of each of the third moment groups according to the third time interval, and match corresponding third parameter data for each third preset moment to obtain a third synchronization data set of the road environment; and add the third synchronization data set to the synchronization database.

3. The method according to claim 2, characterized in that The method further comprises the following steps: When the collection frequency of the road environment is the same as the collection frequency of the vehicle to which the standard time belongs, the third sending time set obtained by the road environment according to the current collection frequency is the third synchronization data set.

4. A V2X-based virtual-real fusion data synchronization test system, capable of implementing the method described in any one of claims 1 to 3, characterized in that: The system comprises: A data acquisition module, used to obtain multiple first time subsets of the tested vehicle and multiple second time subsets of the background vehicle; each of the first time subsets includes: multiple first sub-times with the same first time interval and corresponding first parameter data; each of the second time subsets includes: multiple second sub-times with the same second time interval and corresponding second parameter data; A processing module is used to determine the initial time of the vehicle under test according to a plurality of the first time subsets, and at the same time, determine the initial time of the background vehicle according to a plurality of the second time subsets; determine the standard time according to the size relationship between the initial time of the vehicle under test and the initial time of the background vehicle, and the size relationship between the first time interval and the second time interval; when the standard time belongs to the first time subset, use the standard time as the first recording time of the vehicle under test and match the corresponding first parameter data; select the second sub-time with the smallest absolute value of difference from the standard time in the second time subset, use the second sub-time as the first recording time of the background vehicle and match the corresponding second parameter data; use the next time adjacent to the standard time in the first time subset as the second recording time of the vehicle under test and match the corresponding first parameter data; select the second sub-time with the smallest absolute value of difference from the second recording time of the vehicle under test in the second time subset, use the second sub-time as the second recording time of the background vehicle and match the corresponding second parameter data; repeat the above steps to obtain the first synchronization data set of the vehicle under test and the second synchronization data set of the background vehicle; and generate a synchronization database according to the first synchronization data set and the second synchronization data set.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the V2X-based virtual-reality fusion data synchronization testing method as described in any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the V2X-based virtual-real fusion data synchronization testing method as described in any one of claims 1 to 3 are implemented.

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