Parking test system and testing method based on parking test system

Abstract

The present disclosure relates to the technical field of vehicle testing, and discloses a parking test system and a test method based on the parking test system, wherein the parking test system includes a host computer, a data transmission line and a controller, wherein the host computer runs a vehicle model to simulate and generate parking data, and the parking data includes first data and second data; the data transmission line includes a first transmission line and a second transmission line, the first transmission line includes a first conversion circuit and a controller area network bus, the first conversion circuit is connected between the host computer and the controller area network bus, the second transmission line includes a second conversion circuit and a gigabit multimedia serial link, and the second conversion circuit is connected between the host computer and the gigabit multimedia serial link; the controller receives the first data through the controller area network bus and the second data through the gigabit multimedia serial link, and runs a program code related to the automatic parking function of the vehicle. The test accuracy can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle testing, and in particular to a parking test system and a testing method based on the parking test system. Background Art

[0002] In the development of the Auto Parking Assist (APA) system, a large number of tests are usually required to ensure the stability and reliability of the function. If a real car is used for testing, the cost may be high, and the construction of some test scenarios is also difficult. Therefore, some current technologies mainly use hardware in the loop (HIL) for testing. However, the test accuracy of this test method is not high. Summary of the invention

[0003] In view of this, the embodiments of the present disclosure provide a parking test system and a testing method based on the parking test system, which can improve the testing accuracy.

[0004] In one aspect, the present disclosure provides a parking test system, the system comprising:

[0005] A host computer, used to run a vehicle model to simulate and generate parking data collected by a sensor when the vehicle is automatically parking, wherein the parking data includes first data and second data;

[0006] A data transmission line, comprising a first transmission line and a second transmission line, wherein the first transmission line comprises a first conversion circuit and a controller area network bus, the first conversion circuit is connected between the host computer and the controller area network bus, and is used to perform a first conversion on the transmission protocol of the first data, and the second transmission line comprises a second conversion circuit and a gigabit multimedia serial link, the second conversion circuit is connected between the host computer and the gigabit multimedia serial link, and is used to perform a second conversion on the transmission protocol of the second data;

[0007] A controller is used to receive the first data through the controller area network bus and the second data through the gigabit multimedia serial link, and run a program code related to the automatic parking function of the vehicle based on the first data and the second data to test the program code.

[0008] Another aspect of the present disclosure provides a test method based on a parking test system, wherein the parking test system includes a host computer, a data transmission line and a controller, wherein the data transmission line includes a first transmission line and a second transmission line, the first transmission line includes a first conversion circuit and a controller area network bus, and the second transmission line includes a second conversion circuit and a gigabit multimedia serial link; the method includes:

[0009] Running the vehicle model through the host computer to simulate and generate parking data collected by the sensor when the vehicle is automatically parking, wherein the parking data includes first data and second data;

[0010] After performing a first conversion on the transmission protocol of the first data through the first conversion circuit, the first data after the transmission protocol conversion is input into the controller through the controller area network bus; and after performing a second conversion on the transmission protocol of the second data through the second conversion circuit, the second data after the transmission protocol conversion is input into the controller through the gigabit multimedia serial link;

[0011] When the controller receives the first data and the second data, the controller runs a program code related to an automatic parking function of the vehicle based on the first data and the second data to test the program code.

[0012] In the technical solutions of some embodiments of the present application, since the first conversion circuit in the first transmission line can convert the transmission protocol of the first data, and input the first data output by the host computer into the controller through the controller local area network bus, and the second conversion circuit in the second transmission line converts the transmission protocol of the second data, and inputs the second data output by the host computer into the controller through the gigabit multimedia serial link, the first transmission line and the second transmission line can accurately simulate the data transmission line in the real parking scene, so that the parking data simulated by the host computer can be input into the controller through the first transmission line and the second transmission line. The present application transmits data through the first transmission line and the second transmission line located between the host computer and the controller, so that the data received by the controller has higher accuracy, thereby improving the test accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The features and advantages of the present disclosure will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present disclosure in any way. In the accompanying drawings:

[0014] Figure 1 A schematic diagram of data transmission provided by an embodiment of the present application is shown;

[0015] Figure 2 A schematic diagram of data transmission of a vehicle in a real parking scenario provided by an embodiment of the present application is shown;

[0016] Figure 3 A schematic diagram of a parking test system provided by an embodiment of the present application is shown;

[0017] Figure 4 Shown as Figure 3 Circuit diagram of parking test system in;

[0018] Figure 5 A flow chart of a testing method provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0020] An automatic parking system refers to a system that controls a vehicle to park automatically based on data collected by sensors on the vehicle. The data collected by the sensors include data about the vehicle itself and data about the environment in which the vehicle is located. The data about the vehicle itself includes, but is not limited to, vehicle speed, vehicle acceleration, etc. The data about the environment in which the vehicle is located includes, but is not limited to, image data of the environment in which the vehicle is located, the contour of the parking space, etc. Based on the data collected by the sensors, the vehicle can be automatically parked by controlling the vehicle's driving direction, driving speed, etc.

[0021] In the development of the automatic parking system, a large number of tests on the program code can be performed to find and modify possible program errors in the program code, thereby ensuring the stability and reliability of the automatic parking function. At present, one of the testing methods is to burn the program code of the automatic parking system into the controller of a real vehicle, and then the automatic parking system controls the vehicle to park automatically based on the data collected by the vehicle sensors, and finds program errors in the program code based on the results of automatic parking. For example, after the vehicle completes parking under the control of the automatic parking system, if the vehicle presses the parking space line, it means that the automatic parking system's control of the vehicle is not accurate enough, and the program code needs to be modified. This testing method based on real vehicles is costly, and the construction of some test scenarios is also difficult.

[0022] In order to solve the above problems, in some technologies, the automatic parking system is tested by a method based on hardware-in-the-loop testing. The so-called hardware-in-the-loop testing means that the vehicle controller can be real, but the vehicle and the environment in which the vehicle is located can be obtained through model simulation in the host computer. After the simulated vehicle data and the data of the vehicle environment are input into the controller as the data collected by the sensor, the controller can generate a control signal for the vehicle model based on the acquired data by running the program code, so that the vehicle model simulates the automatic parking scene. Based on the results of the simulated automatic parking, program errors in the program code can be found and modified.

[0023] However, in these technologies, there is no communication line between the host computer and the controller to transmit the simulated vehicle data and the data of the environment in which the vehicle is located. Taking the data of the simulated vehicle environment as an example, in these technologies, the data is input into the vehicle controller in the following way:

[0024] 1) Displaying the environment where the vehicle is located through the display screen of the host computer or the display screen of a display device connected to the host computer;

[0025] 2) After the image on the display screen is captured using an image capture device (such as a camera), the captured image data can be used as data of the environment in which the vehicle is located.

[0026] 3) Connect the camera to the controller and input the collected image data into the controller.

[0027] The image data collected in this way is not accurate, which leads to a correspondingly low test accuracy. In order to solve this problem, the inventor of this application proposes the following Figure 1 The data transmission diagram is shown. Figure 1 In the embodiment, a data transmission line 12 is added between the host computer 11 and the controller 13. The data transmission line 12 can be used to simulate the communication line between each sensor and the controller 13 in the actual parking scene. In this way, the vehicle's own data and the data of the vehicle's environment simulated in the host computer 11 can be directly transmitted to the controller 13 through the data transmission line 12, without the need to collect the image of the vehicle's environment on the display screen through the camera, which effectively avoids the problem of low test accuracy caused by the screen image collection method.

[0028] In order to implement the solution of the present application, the inventor of the present application first analyzed the data transmission of the vehicle in the real parking scene. Figure 2 As shown, in a real parking scenario, wheel pulse sensors 20, chassis inertial measurement unit 21, camera 27, onboard inertial measurement unit 28 and radar 29 are usually used as sensors to collect data. Among them:

[0029] The pulse sensor 20 can be used to collect wheel speed, and based on the wheel speed, the vehicle speed can be determined. The data collected by the pulse sensor 20 can be provided to the linear braking system 22. The linear braking system 22 can be used to brake the vehicle in a parking scenario. After the linear braking system 22 brakes the vehicle, the data of the pulse sensor 20 can be collected to determine the vehicle speed, and then determine whether the braking control is effective;

[0030] The chassis inertial measurement unit 21, also known as the chassis IMU (Inertial Measurement Unit), is located at the center of the rear axle of the vehicle and is used to detect the acceleration and rotational motion of the vehicle; the onboard inertial measurement unit 28, also known as the onboard IMU, is located in the control console of the vehicle. Generally, the chassis measurement unit 21 can have a higher accuracy, and the onboard inertial measurement unit 28 can have a lower accuracy than the chassis measurement unit 21, and can be used to verify the data output by the chassis measurement unit 21;

[0031] The camera 27 can be used to collect image data of the environment where the vehicle is located. Figure 2 In the embodiment, the data collected in parallel by the multiple cameras 27 can be converted into serial data, and the serial data can be converted back into multiple parallel data after being converted by the deserializer 26;

[0032] The radar 29 may be used to detect the distance between the vehicle and other objects, such as other vehicles.

[0033] Typically, in a real parking scenario, the data collected by the wheel pulse sensor 20, chassis inertial measurement unit 21 and radar 29 can be transmitted via the controller area network (CAN) bus, the data collected by the onboard inertial measurement unit 28 can be transmitted via the inter-integrated circuit (I2C) bus, and the data collected by the camera 27 can be transmitted via the gigabit multimedia serial link (GMSL).

[0034] The programmable controller 25 can be used to run the program code of the automatic parking system. However, since the programmable controller 25 does not support the controller area network bus protocol and the gigabit multimedia serial link protocol, the data collected by the wheel pulse sensor 20, the chassis inertial measurement unit 21 and the radar 29 can first be transmitted to the microcontroller 24 that supports the controller area network bus protocol through the gateway 23, and the microcontroller 24 converts the data collected by the wheel pulse sensor 20, the chassis inertial measurement unit 21 and the radar 29 into a transmission protocol, and then sends the data to the programmable controller 25. After the data collected by the camera 27 is transmitted to the deserializer 26 through the gigabit multimedia serial link for conversion, the programmable controller 25 can obtain the converted data through the integrated circuit bus or the mobile industry processor interface (MIPI).

[0035] Figure 2 In the process, since there are program codes for converting the transmission protocol in the microcontroller 24 and the deserializer 26, when errors occur in these program codes, the program codes of the automatic parking system may also fail to execute normally. Therefore, when the program codes of the automatic parking system are actually tested, the program codes in the programmable controller 25, the microcontroller 24 and the deserializer 26 are tested uniformly, that is, the programmable controller 13, the microcontroller 24 and the deserializer 26 are used together as Figure 2 Controller 13 in.

[0036] After the programming controller 13, the microcontroller 24 and the deserializer 26 are used as the controller 13, we can see that the data collected by each sensor is actually input to the controller 13 through the controller area network bus (CAN), the gigabit multimedia serial link (GMSL) and the integrated circuit bus (I2C). Since the integrated circuit bus can be the on-board communication bus of the microcontroller (i.e., the internal communication bus of the controller 13), it is not necessary to pay attention to it. Therefore, when simulating the transmission line between the sensor and the controller 13, it is actually only necessary to connect the host computer 11 and the controller 13 through the controller area network bus and the gigabit multimedia serial link, and then input the simulated data collected by the wheel pulse sensor 20, the chassis inertial measurement unit 21 and the radar 29 into the controller 13 through the controller area network bus, and input the simulated data collected by the camera 27 into the controller 13 through the gigabit multimedia serial link. However, since the host computer 11 does not have an interface that supports the controller area network bus protocol and the gigabit multimedia serial link protocol, the host computer 11 and the controller 13 cannot be directly connected through the controller area network bus and the gigabit multimedia serial link. In view of this, the inventor of the present application proposes a parking test system to solve this problem.

[0037] Combined with reference Figure 3 , which is a schematic diagram of a parking test system 300 provided in accordance with an embodiment of the present application. Figure 3 In the embodiment, the parking test system 300 includes a host computer 11, a data transmission line 12 and a controller 13.

[0038] The host computer 11 is used to run the vehicle model to simulate and generate parking data collected by the vehicle through sensors during automatic parking, and the parking data includes first data and second data. In this embodiment, the first data is data that needs to be transmitted through the controller area network bus, that is, simulated data collected by the wheel pulse sensor 20, the chassis inertial measurement unit 21 and the radar 29; the second data is data that needs to be transmitted through the gigabit multimedia serial link, that is, simulated data collected by the camera 27.

[0039] The data transmission line 12 includes a first transmission line 121 and a second transmission line 122. Wherein:

[0040] The first transmission line 121 includes a first conversion circuit 1211 and a controller area network bus 1212. The first conversion circuit 1211 is connected between the host computer 11 and the controller area network bus 1212, and is used to perform a first conversion on the transmission protocol of the first data. The first conversion is to convert the first data output by the host computer 11 into data transmitted according to the controller area network bus protocol, so that the first data after the transmission protocol conversion is completed can be input into the controller 13 through the controller area network bus 1212.

[0041] The second transmission line 122 includes a second conversion circuit 1221 and a gigabit multimedia serial link 1222. The second conversion circuit 1221 is connected between the host computer 11 and the gigabit multimedia serial link 1222, and is used to perform a second conversion on the transmission protocol of the second data. The second conversion is to convert the second data output by the host computer 11 into data transmitted according to the gigabit multimedia serial link protocol, so that the second data after the transmission protocol conversion can be input into the controller 13 through the gigabit multimedia serial link 1222.

[0042] The controller 13 is used to receive first data through the controller area network bus 1212 and second data through the gigabit multimedia serial link 1222, and run program codes related to the automatic parking function of the vehicle based on the first data and the second data to test the program codes.

[0043] In summary, in the technical solutions of some embodiments of the present application, since the first conversion circuit 1211 in the first transmission line 121 can convert the transmission protocol of the first data, and input the first data output by the host computer 11 into the controller 13 through the controller local area network bus, and the second conversion circuit 1221 in the second transmission line 122 converts the transmission protocol of the second data, and inputs the second data output by the host computer 11 into the controller 13 through the gigabit multimedia serial link 1222, the first transmission line 121 and the second transmission line 122 can accurately simulate the data transmission line in the real parking scene, so that the parking data simulated by the host computer 11 can be input into the controller 13 through the first transmission line 121 and the second transmission line 122. Compared with some technologies, the present application transmits data through the first transmission line 121 and the second transmission line 122 located between the host computer 11 and the controller 13, which can make the data received by the controller 13 more accurate, thereby improving the test accuracy.

[0044] Combined with reference Figure 4 ,for Figure 3 Schematic diagram of the parking test system 300 in FIG.

[0045] Figure 4 In the embodiment, the host computer 11 includes a plurality of universal serial bus interfaces and a plurality of display communication interfaces. The universal serial bus interface is also called a USB (Universal Serial Bus) interface, and the display communication interface is also called a DP (DisplayPort) interface. A first transmission line 121 and a plurality of second transmission lines 122 are connected between the host computer 11 and the controller 13. In the embodiment:

[0046] The first conversion circuit 1211 in the first transmission line 121 is connected between the universal serial bus interface of the host computer 11 and the controller area network bus 1212, and is used to convert the transmission protocol of the first data from the universal serial bus protocol to the controller area network bus protocol, so that the converted first data can be transmitted through the controller area network bus 1212. In this embodiment, the first conversion circuit 1211 may include a CAN card.

[0047] The second conversion circuit 1221 in the second transmission line 122 is connected between the display communication interface of the host computer 11 and the gigabit multimedia serial link 1222, and is used to convert the transmission protocol of the second data from the digital video transmission protocol to the gigabit multimedia serial link protocol, so that the converted second data can be transmitted through the gigabit multimedia serial link 1222.

[0048] In some embodiments, the controller area network bus 1212 includes a first bus 1231 and a second bus 1232, wherein the first bus 1231 and the second bus 1232 can be used to transmit the first data according to different transmission protocols. Specifically, the first bus 1231 can be used to transmit the first data according to the BCAN (Body Controller Area Network) protocol, and the second bus 1232 can be used to transmit the first data according to the ICAN (Industry CAN-bus Application Protocol) protocol. In this way, different data transmission requirements can be met. For example, the first bus 1231 can be used to transmit data related to the vehicle's automatic parking function, and the second bus 1232 can be used to transmit data related to the vehicle's cockpit function. The solution has better applicability.

[0049] In some embodiments, for one of the target buses in the first bus 1231 and the second bus 1232, the target bus includes a data transmission port A1 and a monitoring port A2 (i.e., a Y-type bus), wherein the data transmission port A1 can be used to connect to the controller 13 so that the controller 13 receives the first data through the controller LAN bus 1212, and the monitoring port A2 can be used to connect to the data acquisition device 1213, wherein the data acquisition device 1213 is used to collect data transmitted in the target bus. Specifically, the data acquisition device 1213 can have a display screen, and the collected data can be displayed on the display screen. In this way, the tester can check whether the data transmitted in the target bus is correct through the data acquisition device 1213, which is convenient for problem location.

[0050] In some embodiments, the controller 13 is specifically used to generate a control signal when running the program code, and send the control signal to the host computer 11 through the first transmission line 121 or the second transmission line 122 to control the vehicle model. Among them, the control signal is a signal that controls the vehicle model to automatically park. The vehicle model is controlled based on the control signal, including but not limited to controlling the vehicle to move backward, controlling the vehicle to slow down, etc. According to the operation result of the vehicle model, it can be determined whether the control signal sent by the program code of the automatic parking system is accurate, so that the program code can be tested. For example, after the vehicle model is controlled based on the control signal, the vehicle model does not completely enter the parking space, indicating that there is a program error in the program code of the automatic parking system. In this case, the program operation log in the controller 13 can be obtained to locate the program error.

[0051] In some embodiments, in order to facilitate the acquisition of the program running log in the controller 13, the parking test system 300 may also include a third transmission line 124 connected between the host computer 11 and the controller 13. Based on the third transmission line 124, the host computer 11 is specifically used to obtain the log information of the controller 13 running the program code through the third transmission line 124 after controlling the vehicle model according to the control signal, if the running result of the vehicle model does not match the expected running result, so as to locate the program error in the program code. Specifically, the third transmission line 124 can be connected between the universal serial bus interface of the host computer 11 and the controller 13. When the running result of the vehicle model does not match the expected running result, the tester can send a log acquisition instruction to the controller 13 through a command tool such as a shell to obtain the log information of the program code running from the controller 13. In this way, the tester can locate the program error in the host computer 11, which is more convenient.

[0052] In some embodiments, Figure 2 The controller 13 may include a first controller 131 and a second controller 132, wherein the first controller 131 may be used to run a first program code for parking control of the vehicle, and the second controller 132 may be connected to the controller area network bus 1212 and the gigabit multimedia serial link 1222, and is used to perform a third conversion on the transmission protocol of the first data and the second data, and then output the first data and the second data to the first controller 131, so that the first controller 131 runs the first program code based on the first data and the second data. Figure 2 In this embodiment, the first controller 131 is Figure 2 The programmable controller 25, the second controller 132 is Figure 2 In this way, when the first controller 131 does not support the controller area network bus protocol or the gigabit multimedia serial link protocol, the data simulated in the host computer 11 can also be secretly transmitted using the controller area network bus protocol or the gigabit multimedia serial link protocol and input into the first controller 131, and the solution is more applicable.

[0053] In some embodiments, Figure 2, because the second controller 132 stores the second program code for converting the transmission protocol of the first data and the second data. In the case of an error in the second program code, it may also cause an operation error of the first program code, therefore, it is necessary to check the program errors of the first program code and the second program code at the same time. Therefore, the third transmission line 124 includes a first sub-line (not shown) connected between the host computer 11 and the first controller 131, and a second sub-line (not shown) connected between the host computer 11 and the second controller 132. Based on the first sub-line and the second sub-line, the host computer 11 is specifically used for obtaining the first log information of the first controller 131 running the first program code through the first sub-line when the operation result of the vehicle model does not match the expected operation result, and obtaining the second log information of the second controller running the second program code through the second sub-line. In this way, the test for the program code is more sufficient, and the reliability of the automatic parking system is improved.

[0054] In some embodiments, the parking test system 300 further includes a fourth transmission line 125 connected between the host computer 11 and the controller 13, and the host computer 11 is used to send control instructions to the controller 13 through the fourth transmission line 125 to control the running process of the program code. Specifically, the fourth transmission line 125 can transmit data according to the Ethernet communication protocol. However, since neither the host computer 11 nor the controller 13 has an Ethernet interface, a third conversion circuit 1251 and a fourth conversion circuit 1252 can be set in the fourth transmission line 125. Among them, the third conversion circuit 1251 can be connected to the universal serial bus interface of the host computer 11, and is used to convert the data output by the host computer 11 into data transmitted according to the Ethernet communication protocol. The fourth conversion circuit 1252 can be connected between the third conversion circuit 1251 and the controller 13, and is used to convert the data transmitted according to the Ethernet communication protocol into data supported by the controller 13. In this way, Ethernet communication is realized between the host computer 11 and the controller 13.

[0055] In some embodiments, the parking test system 300 further includes an image acquisition device 127, which is in communication with the host computer 11 and is used to acquire image data of the parking test system 300 during operation of the parking test system 300, and output the acquired image data to the host computer 11 for display. In this way, the tester can view the operation of the entire parking test system 300 in the host computer 11, reducing the need to walk back and forth.

[0056] At this point, the relevant description of the entire parking test system 300 of the present application is completed.

[0057] The present application also provides a testing method based on the parking test system 300. Figure 5, is a flow chart of a testing method provided by an embodiment of the present application. The testing method can be applied to the parking test system 300. Figure 5 The test method includes the following steps:

[0058] Step S51, running the vehicle model through the host computer 11 to simulate and generate parking data collected by the sensor when the vehicle is automatically parked, the parking data including first data and second data;

[0059] Step S52, after the first conversion is performed on the transmission protocol of the first data through the first conversion circuit 1211, the first data after the transmission protocol conversion is input into the controller 13 through the controller LAN bus 1212; and after the second conversion is performed on the transmission protocol of the second data through the second conversion circuit 1221, the second data after the transmission protocol conversion is input into the controller 13 through the Gigabit Multimedia Serial Link 1222.

[0060] Step S53 , when the controller 13 receives the first data and the second data, the controller 13 runs the program code related to the automatic parking function of the vehicle based on the first data and the second data to test the program code.

[0061] In some embodiments, injecting the first data after the transmission protocol conversion into the controller 13 through the controller area network bus 1212 may include:

[0062] Injecting first data transmitted according to the first transmission protocol into the controller 13 via the first bus 1231;

[0063] The second data transmitted according to the second transmission protocol is injected into the controller 13 through the second bus 1231 .

[0064] In some embodiments, the controller 13 runs the program code related to the automatic parking function of the vehicle based on the first data and the second data to test the program code, which may include:

[0065] The controller 13 sends the control signal generated when running the program code to the host computer 11 through the first transmission line 121 or the second transmission line 122 to control the vehicle model;

[0066] After the host computer 11 controls the vehicle model according to the control signal, if the operation result of the vehicle model does not match the expected operation result, the host computer 11 obtains the log information of the controller 13 running the program code through the third transmission line 124 to locate the program error in the program code.

[0067] For the relevant principles of the test method, please refer to the relevant description of the parking test system 300, which will not be repeated here. Since the test method has the same technical features as the parking test system 300, the beneficial effects of the parking test system 300 are also applicable to the test method, which will not be repeated here.

[0068] Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A parking test system, characterized in that: The system comprises: A host computer, used to run a vehicle model to simulate and generate parking data collected by a sensor when the vehicle is automatically parking, wherein the parking data includes first data and second data; A data transmission line, comprising a first transmission line and a second transmission line, wherein the first transmission line comprises a first conversion circuit and a controller area network bus, the first conversion circuit is connected between the host computer and the controller area network bus, and is used to perform a first conversion on the transmission protocol of the first data, and the second transmission line comprises a second conversion circuit and a gigabit multimedia serial link, the second conversion circuit is connected between the host computer and the gigabit multimedia serial link, and is used to perform a second conversion on the transmission protocol of the second data; a controller, configured to receive the first data through the controller area network bus, receive the second data through the gigabit multimedia serial link, and run a program code related to an automatic parking function of a vehicle based on the first data and the second data to test the program code; and A third transmission line connected between the host computer and the controller; The controller is specifically used to generate a control signal when running the program code, and send the control signal to the host computer through the first transmission line or the second transmission line to control the vehicle model; The host computer is specifically used to obtain log information of the controller running the program code through the third transmission line after controlling the vehicle model according to the control signal, if the operation result of the vehicle model does not match the expected operation result, so as to locate the program error in the program code; Specifically, the controller includes a first controller and a second controller, the first controller is used to run a first program code for parking control of the vehicle, and the second controller is used to connect the controller area network bus and the gigabit multimedia serial link, and after performing a third conversion on the transmission protocols of the first data and the second data, output the first data and the second data to the first controller, so that the first controller runs the first program code based on the first data and the second data; Specifically, the second controller stores a second program code for converting the transmission protocols of the first data and the second data, and the third transmission line includes a first sub-line connected between the host computer and the first controller, and a second sub-line connected between the host computer and the second controller; The host computer is specifically used to obtain first log information of the first controller running the first program code through the first sub-line when the running result of the vehicle model does not match the expected running result, and to obtain second log information of the second controller running the second program code through the second sub-line.

2. The system according to claim 1, characterized in that The controller area network bus includes a first bus and a second bus, wherein the first bus and the second bus are used to transmit the first data according to different transmission protocols.

3. The system according to claim 2, characterized in that For one of the target buses among the first bus and the second bus, the target bus includes a data transmission port and a monitoring port, wherein the data transmission port is used to connect to the controller so that the controller receives the first data through the controller LAN bus, and the monitoring port is used to connect to a data acquisition device, wherein the data acquisition device is used to acquire data transmitted in the target bus.

4. The system according to claim 1, characterized in that The parking test system further includes a fourth transmission line connected between the host computer and the controller, and the host computer is used to send a control instruction to the controller through the fourth transmission line to control the running process of the program code; and / or The parking test system further includes an image acquisition device, which is communicatively connected to the host computer and is used to acquire image data of the parking test system during operation of the parking test system, and output the acquired image data to the host computer for display.

5. A testing method based on a parking test system, characterized in that: The parking test system includes a host computer, a data transmission line and a controller, wherein the data transmission line includes a first transmission line and a second transmission line, the first transmission line includes a first conversion circuit and a controller area network bus, the second transmission line includes a second conversion circuit and a gigabit multimedia serial link, and a third transmission line is further connected between the controller and the host computer, the controller includes a first controller and a second controller, the first controller stores a first program code, the second controller is used to connect the controller area network bus and the gigabit multimedia serial link, and the second controller stores a second program code, the third transmission line includes a first sub-line connected between the host computer and the first controller, and a second sub-line connected between the host computer and the second controller; the method includes: Running the vehicle model through the host computer to simulate and generate parking data collected by the sensor when the vehicle is automatically parking, wherein the parking data includes first data and second data; After performing a first conversion on the transmission protocol of the first data through the first conversion circuit, the first data after the transmission protocol conversion is input into the controller through the controller area network bus; and after performing a second conversion on the transmission protocol of the second data through the second conversion circuit, the second data after the transmission protocol conversion is input into the controller through the gigabit multimedia serial link; When the controller receives the first data and the second data, the controller runs a program code related to an automatic parking function of a vehicle based on the first data and the second data to test the program code, wherein: For a control signal generated by the controller when running the program code, the control signal is sent to the host computer through the first transmission line or the second transmission line to control the vehicle model; After the host computer controls the vehicle model according to the control signal, if the operation result of the vehicle model does not match the expected operation result, the host computer obtains the log information of the controller running the program code through the third transmission line to locate the program error in the program code; Specifically, the controller runs a program code related to the automatic parking function of the vehicle based on the first data and the second data, including: The second controller runs the second program code, performs a third conversion on the transmission protocol of the first data and the second data, outputs the first data and the second data to the first controller, and the first controller runs the first program code based on the first data and the second data to perform parking control on the vehicle; The obtaining, by the host computer through the third transmission line, log information of the controller running the program code includes: The host computer obtains first log information of the first controller running the first program code through the first sub-line, and obtains second log information of the second controller running the second program code through the second sub-line.

6. The method according to claim 5, characterized in that The controller area network bus includes a first bus and a second bus; The step of injecting the first data after the transmission protocol conversion into the controller through the controller area network bus comprises: injecting the first data transmitted according to the first transmission protocol into the controller through the first bus; The first data transmitted according to the second transmission protocol is injected into the controller through the second bus.

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