Vehicle controller test method, device, vehicle, storage medium and program product

Abstract

The application discloses a kind of vehicle controller test method, device, vehicle, storage medium and program product.Therein, the method comprises: obtaining at least one controller variable of current vehicle controller needing testing;Based on the controller variable, the preset test scene and the controller test case are constructed;The vehicle controller is controlled based on test equipment to execute the controller test case, and the target variable of the vehicle controller is monitored, and the variable monitoring result is obtained, wherein the test equipment receives the test case through a predetermined interface, and the target variable is used to represent the variable that will change when the vehicle controller normally operates in the preset test scene;Whether the vehicle controller can normally operate is determined based on the variable monitoring result.The present application solves the technical problem that the related art has poor convenience for testing vehicle controller.

Description

Technical Field

[0001] This invention relates to the field of controller testing, and more specifically, to a method, apparatus, vehicle, storage medium, and program product for testing vehicle-mounted controllers. Background Technology

[0002] Currently, to improve the user's driving experience, vehicle manufacturers typically equip vehicles with corresponding driver assistance systems (ADAS) and autonomous driving systems. The safe and stable operation of these systems is a crucial factor for users when deciding whether to use them. Therefore, to ensure user safety and enhance the driving experience, vehicle manufacturers usually conduct safety tests on multiple onboard controllers within these systems to prevent safety risks during vehicle operation. However, considering the numerous driving scenarios a vehicle may encounter, the current method of directly controlling the vehicle in different scenarios to determine the onboard controller's proper functioning results in high testing costs and low efficiency. It also requires significant time for verifying and recording test results, making overall testing of onboard controllers too inconvenient. Summary of the Invention

[0003] This invention provides a method, apparatus, vehicle, storage medium, and program product for testing vehicle controllers, to at least address the technical problem of poor convenience in testing vehicle controllers in related technologies.

[0004] According to one aspect of the present invention, a method for testing an in-vehicle controller is provided, comprising: acquiring at least one controller variable of an in-vehicle controller currently to be tested; constructing controller test cases based on a preset test scenario and the controller variables; controlling the in-vehicle controller to execute the controller test cases based on a test device, and monitoring the target variable of the in-vehicle controller to obtain variable monitoring results, wherein the test device receives the test cases through a preset interface, and the target variable is used to characterize the variable that changes when the in-vehicle controller operates normally under the preset test scenario; and determining whether the in-vehicle controller can operate normally based on the variable monitoring results.

[0005] Further, determining whether the vehicle controller can operate normally based on the variable monitoring results includes: obtaining calibration test results from a calibration result library that match the controller identifier of the vehicle controller and the scene identifier of the preset test scenario, wherein the calibration result library is used to store the correlation between the controller identifier, the scene identifier, and the calibration test results, and the calibration test results are used to characterize the output result of the target variable when the vehicle controller operates normally under the preset test scenario; performing error statistics on the calibration test results and the variable monitoring results based on the target variable to obtain the test result error; determining that the vehicle controller can operate normally if the test result error is less than or equal to a first error threshold; and determining that the vehicle controller cannot operate normally if the test result error is greater than the first error threshold.

[0006] Furthermore, based on the preset test scenario and the controller variables, controller test cases are constructed, including: obtaining at least one scenario parameter matching the preset test scenario from the test parameter library; obtaining at least one test process matching the preset test scenario from the test process library; configuring the controller variables based on the scenario parameters to obtain configuration variables; and constructing the controller test cases based on the configuration variables and the test processes.

[0007] Furthermore, the above method also includes: outputting the controller test cases; in response to receiving a policy adjustment instruction, adjusting the configuration variables or the test process based on the policy adjustment instruction to obtain new configuration variables or a new test process; updating the controller test cases based on the new configuration variables or the new test process to obtain new controller test cases.

[0008] Furthermore, the above method also includes: in response to the vehicle controller malfunctioning, performing feature extraction on the variable monitoring results to obtain variable monitoring features; inputting the variable monitoring features into the fault detection model to obtain fault detection results; and outputting the fault detection results.

[0009] Furthermore, the above method also includes: generating a controller test number based on the scenario identifier of the test scenario and the controller identifier of the vehicle controller; obtaining a controller test record matching the controller test number from the test result library, wherein the controller test record includes at least one historical monitoring result and a historical test result corresponding to the historical monitoring result, the historical monitoring result being used to characterize the result obtained by monitoring the target variable when testing the vehicle controller according to the controller test case within a historical time period, the historical test result being used to characterize whether the vehicle controller can operate normally based on the historical monitoring result; in response to the error between the historical monitoring result and the variable monitoring result being greater than or equal to a second error threshold, generating a controller test record based on the variable monitoring result and the controller test result, and storing the controller test record in the test result library based on the controller test number, wherein the controller test result is used to characterize whether the currently determined vehicle controller can operate normally.

[0010] Further, obtaining at least one controller variable of the vehicle controller that needs to be tested includes: obtaining the controller identifier of the vehicle controller; obtaining the controller variable that matches the controller identifier from the controller variable library, wherein the controller variable library is used to store the association relationship between the controller identifier and the controller variable, and the controller variable includes: a first controller variable of the vehicle controller and / or a second controller variable of other controllers besides the vehicle controller.

[0011] According to one aspect of the present invention, an in-vehicle controller testing apparatus is also provided, comprising: a variable acquisition module, configured to acquire at least one controller variable of an in-vehicle controller currently to be tested; a test case construction module, configured to construct controller test cases based on a preset test scenario and the controller variables; a controller testing module, configured to control the in-vehicle controller to execute the controller test cases based on a test device, and monitor the target variable of the in-vehicle controller to obtain variable monitoring results, wherein the test device receives the test cases through a preset interface, and the target variable is used to characterize the variable that changes when the in-vehicle controller operates normally under the preset test scenario; and a controller determination module, configured to determine whether the in-vehicle controller can operate normally based on the variable monitoring results.

[0012] Furthermore, the controller determination module is also configured to: obtain calibration test results from the calibration result library that match the controller identifier of the vehicle controller and the scene identifier of the preset test scenario, wherein the calibration result library is used to store the correlation between the controller identifier, the scene identifier and the calibration test results, and the calibration test results are used to characterize the output result of the target variable when the vehicle controller is operating normally under the preset test scenario; perform error statistics on the calibration test results and the variable monitoring results based on the target variable to obtain the test result error; determine that the vehicle controller can operate normally if the test result error is less than or equal to a first error threshold; and determine that the vehicle controller cannot operate normally if the test result error is greater than the first error threshold.

[0013] Furthermore, the test case construction module is also used to: obtain at least one scenario parameter matching the preset test scenario from the test parameter library; obtain at least one test process matching the preset test scenario from the test process library; configure the controller variable based on the scenario parameter to obtain configuration variables; and construct the controller test cases based on the configuration variables and the test process.

[0014] Furthermore, the above-mentioned device also includes: a test case output module for outputting the controller test cases; a process adjustment module for adjusting the configuration variables or the test process based on the policy adjustment instruction in response to receiving the policy adjustment instruction, to obtain new configuration variables or a new test process; and a test case adjustment module for updating the controller test cases based on the new configuration variables or the new test process, to obtain new controller test cases.

[0015] Furthermore, the above-mentioned device also includes: a feature extraction module, used to extract features from the variable monitoring results in response to the vehicle controller malfunctioning, to obtain variable monitoring features; a fault detection module, used to input the variable monitoring features into a fault detection model to obtain fault detection results; and a result output module, used to output the fault detection results.

[0016] Furthermore, the above-mentioned device also includes: a number generation module, used to generate a controller test number based on the scene identifier of the test scenario and the controller identifier of the vehicle controller; a record acquisition module, used to acquire a controller test record matching the controller test number from the test result library, wherein the controller test record includes at least one historical monitoring result and a historical test result corresponding to the historical monitoring result, the historical monitoring result being used to characterize the result obtained by monitoring the target variable when testing the vehicle controller according to the controller test case within a historical time period, the historical test result being used to characterize whether the vehicle controller can operate normally based on the historical monitoring result; and a record storage module, used to generate a controller test record based on the variable monitoring result and the controller test result in response to the error between the historical monitoring result and the variable monitoring result being greater than or equal to a second error threshold, and to store the controller test record in the test result library based on the controller test number, wherein the controller test result is used to characterize whether the currently determined vehicle controller can operate normally.

[0017] Furthermore, the variable acquisition module is also used to: acquire the controller identifier of the vehicle controller; acquire the controller variable that matches the controller identifier from the controller variable library, wherein the controller variable library is used to store the association relationship between the controller identifier and the controller variable, and the controller variable includes: the first controller variable of the vehicle controller and / or the second controller variable of other controllers besides the vehicle controller.

[0018] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0019] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0020] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0021] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0022] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0023] In this embodiment of the invention, at least one controller variable of the vehicle controller to be tested is obtained; controller test cases are constructed based on a preset test scenario and the controller variables; the vehicle controller is controlled by a test device to execute the controller test cases, and the target variables of the vehicle controller are monitored to obtain variable monitoring results; and the vehicle controller's ability to operate normally is determined based on the variable monitoring results. By constructing controller test cases that conform to the vehicle controller's possible execution in real-world driving scenarios based on preset test scenarios that the vehicle may travel to and controller variables that affect the vehicle controller's operation, and directly controlling the vehicle controller to execute the controller test cases through a test device, the normal operation of the vehicle controller under different preset test scenarios can be determined. This reduces the testing costs and difficulty of testing the vehicle controller, thereby solving the technical problem of poor convenience in testing vehicle controllers in related technologies. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0025] Figure 1 This is a flowchart illustrating a vehicle controller testing method according to an embodiment of this application;

[0026] Figure 2 This is a structural block diagram of a testing device according to an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of a controller test node according to an embodiment of this application;

[0028] Figure 4 This is a structural block diagram of an on-board controller testing system according to an embodiment of this application;

[0029] Figure 5 This is a structural block diagram of an on-board controller testing device according to an embodiment of this application. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Example 1

[0033] According to an embodiment of the present invention, a method embodiment for testing an on-board controller is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0034] Figure 1 This is a flowchart illustrating a vehicle controller testing method according to an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps:

[0035] Step S102: Obtain at least one controller variable of the vehicle controller that needs to be tested.

[0036] Further, obtaining at least one controller variable of the vehicle controller that needs to be tested includes: obtaining the controller identifier of the vehicle controller; obtaining the controller variable that matches the controller identifier from the controller variable library, wherein the controller variable library is used to store the association relationship between the controller identifier and the controller variable, and the controller variable includes: a first controller variable of the vehicle controller and / or a second controller variable of other controllers besides the vehicle controller.

[0037] The aforementioned controller variables can refer to variables that may affect the operation of the vehicle controller. For example, if the vehicle controller to be tested is a steering controller, the corresponding controller variables obtained may include, but are not limited to, parameters such as the vehicle's speed, steering wheel angle, and the connection status between the steering controller and other controllers. The controller identifiers mentioned above can be set by the user and are not limited here.

[0038] In one optional embodiment, to accurately test the operational capability of the vehicle controller, the vehicle controller testing system (hereinafter referred to as the testing system) can first acquire at least one controller variable related to the vehicle controller currently being tested. By changing the controller variable, it can check whether the operating state of the vehicle controller matches the changes in the controller variable, thereby determining whether the vehicle controller can operate normally. To reasonably determine the controller variable corresponding to the vehicle controller, the testing system can first acquire the controller identifier of the vehicle controller currently being tested. Then, from the aforementioned controller variable library, it can obtain the association between the controller identifier and controller variables that may affect the operation of the vehicle controller. Finally, based on this association and the testing requirements of the vehicle controller, it can determine the variable that needs to be changed from among multiple controller variables, using it as at least one controller variable of the acquired vehicle controller.

[0039] Step S104: Based on the preset test scenario and the controller variables, construct controller test cases.

[0040] Furthermore, based on the preset test scenario and the controller variables, controller test cases are constructed, including: obtaining at least one scenario parameter matching the preset test scenario from the test parameter library; obtaining at least one test process matching the preset test scenario from the test process library; configuring the controller variables based on the scenario parameters to obtain configuration variables; and constructing the controller test cases based on the configuration variables and the test processes.

[0041] The aforementioned preset test scenarios can refer to the driving scenarios that the vehicle may be in during the operation of the vehicle controller. For example, for the steering controller, the corresponding preset test scenarios may include, but are not limited to, advanced cruise request scenarios, lane keeping request scenarios, emergency steering assist request scenarios, and autonomous driving request scenarios.

[0042] In one optional embodiment, the testing system can generate a corresponding preset test scenario based on received test requirements, such as test text input by the user or test parameters actively set by the user. Then, based on the possible operating parameters of different controller variables when the vehicle is driving in the preset test scenario, the system configures these multiple controller variables to construct controller test cases for testing the vehicle controller. Specifically, the testing system can first obtain at least one scenario parameter matching the preset test scenario from the test parameter library. For example, in the aforementioned high-speed cruise request scenario, it can obtain parameters such as possible vehicle speed and steering wheel angle. Simultaneously, it can obtain at least one test procedure matching the preset test scenario from the test procedure library. For example, it can first test the operation of the steering controller at a fixed vehicle speed, and then test the operation of the steering controller at a fixed vehicle speed and a fixed steering wheel angle. After obtaining the scenario parameters and test procedures that match the preset test scenario, the test system can further use the obtained scenario parameters to configure the controller variables mentioned above to obtain the configuration parameters. Then, according to the configuration parameters and the test procedures mentioned above, multiple controller test cases for testing the vehicle controller can be constructed.

[0043] Step S106: Based on the test equipment, control the vehicle controller to execute the controller test cases and monitor the target variables of the vehicle controller to obtain variable monitoring results.

[0044] The test equipment receives the test cases through a preset interface, and the target variable is used to characterize the variables that will change when the vehicle controller is operating normally under the preset test scenario.

[0045] The target variable mentioned above can refer to the variable of the vehicle controller itself, which is the variable that will change when the vehicle controller is running normally under the preset test scenario. The change of the target variable can reflect whether the vehicle controller can run normally.

[0046] In one optional embodiment, after constructing the controller test cases, the test system can transmit the controller test cases to the test equipment through a preset interface. The test equipment then controls the vehicle controller to execute the controller test cases, and the operating status of the vehicle controller is determined based on the test results corresponding to the controller test cases. Therefore, to accurately reflect the test results corresponding to the vehicle controller executing the controller test cases, the variables that the vehicle controller may have during normal operation, i.e., the aforementioned target variables, can be obtained first. Then, during the execution of the controller test cases, the changes in the target variables on the vehicle controller are monitored in real time to obtain the aforementioned variable monitoring results.

[0047] Step S108: Determine whether the vehicle controller can operate normally based on the variable monitoring results.

[0048] In one optional embodiment, after obtaining the variable monitoring results by monitoring the target variable, the testing system can determine whether the vehicle controller can operate normally by judging whether the variable monitoring results match the aforementioned preset test scenario. For example, for the steering controller, assuming that the controller test case includes a preset test scenario where the vehicle encounters an obstacle, the testing system can determine whether the steering controller can operate normally based on the monitored variable monitoring results, such as the angle turned by the steering controller. If, according to the obstacle's volume, size, or other parameters, the steering controller can turn the corresponding angle so that the vehicle can avoid the obstacle, then it can be determined that the steering controller is currently operating normally. If, according to the obstacle's volume, size, or other parameters, the steering controller cannot turn the corresponding angle so that the vehicle can avoid the obstacle, then it can be determined that the steering controller is currently not operating normally.

[0049] In this embodiment of the invention, at least one controller variable of the vehicle controller to be tested is obtained; controller test cases are constructed based on a preset test scenario and the controller variables; the vehicle controller is controlled by a test device to execute the controller test cases, and the target variables of the vehicle controller are monitored to obtain variable monitoring results; and the vehicle controller's ability to operate normally is determined based on the variable monitoring results. By constructing controller test cases that conform to the vehicle controller's possible execution in real-world driving scenarios based on preset test scenarios that the vehicle may travel to and controller variables that affect the vehicle controller's operation, and directly controlling the vehicle controller to execute the controller test cases through a test device, the normal operation of the vehicle controller under different preset test scenarios can be determined. This reduces the testing costs and difficulty of testing the vehicle controller, thereby solving the technical problem of poor convenience in testing vehicle controllers in related technologies.

[0050] Further, determining whether the vehicle controller can operate normally based on the variable monitoring results includes: obtaining calibration test results from a calibration result library that match the controller identifier of the vehicle controller and the scene identifier of the preset test scenario, wherein the calibration result library is used to store the correlation between the controller identifier, the scene identifier, and the calibration test results, and the calibration test results are used to characterize the output result of the target variable when the vehicle controller operates normally under the preset test scenario; performing error statistics on the calibration test results and the variable monitoring results based on the target variable to obtain the test result error; determining that the vehicle controller can operate normally if the test result error is less than or equal to a first error threshold; and determining that the vehicle controller cannot operate normally if the test result error is greater than the first error threshold.

[0051] In one optional embodiment, to improve the accuracy of determining whether the vehicle controller can operate normally, the testing system can first determine the controller identifier of the vehicle controller, the scenario identifier of the preset test scenario, and the correlation between the calibration test results from the calibration result library. Then, based on the correlation, it determines the calibration test result corresponding to the normal execution of the test cases by the vehicle controller, that is, the change of the target variable when the vehicle controller operates normally under the preset test scenario. After obtaining the calibration test result, the testing system can match the calibration test result with the monitored variable monitoring results to determine the result error corresponding to each different target variable. The determined result error is statistically analyzed, for example, by weighting or simple summation, to obtain the test result error. If the obtained test result error is small, for example, less than or equal to the first error threshold, it can be determined that the vehicle controller can operate normally; if the obtained test result error is large, for example, greater than the first error threshold, it can be determined that the vehicle controller cannot operate normally.

[0052] Furthermore, the above method also includes: outputting the controller test cases; in response to receiving a policy adjustment instruction, adjusting the configuration variables or the test process based on the policy adjustment instruction to obtain new configuration variables or a new test process; updating the controller test cases based on the new configuration variables or the new test process to obtain new controller test cases.

[0053] In one optional embodiment, to ensure the rationality of the constructed controller test cases, the testing system can also output the controller test cases in a preset operation interface for easy viewing by the user. The user can adjust the current controller test cases according to their own needs, such as changing the configuration parameters of the acquired controller variables or changing the testing process for the vehicle controller. The testing system can generate corresponding policy adjustment instructions based on the user's adjustments, and adjust the above-mentioned configuration variables or test processes according to the policy adjustment instructions to obtain new configuration variables or new test processes. Finally, the testing system adjusts the current controller test cases according to the new configuration variables or new test processes to obtain new controller test cases that better meet the user's expectations.

[0054] Furthermore, the above method also includes: in response to the vehicle controller malfunctioning, performing feature extraction on the variable monitoring results to obtain variable monitoring features; inputting the variable monitoring features into the fault detection model to obtain fault detection results; and outputting the fault detection results.

[0055] In one optional embodiment, if the vehicle controller is determined to be malfunctioning based on the variable monitoring results of the target variable, the test system can further extract features from the variable monitoring results to obtain the aforementioned variable monitoring features. These features are then input into a pre-trained fault detection model to determine the cause of the vehicle controller's current malfunction, thus obtaining the aforementioned fault detection results. Finally, the fault detection results are output through a preset operation interface to facilitate user viewing and adjustment of the vehicle controller based on the fault detection results, thereby improving the performance of the vehicle controller.

[0056] Furthermore, the above method also includes: generating a controller test number based on the scenario identifier of the test scenario and the controller identifier of the vehicle controller; obtaining a controller test record matching the controller test number from the test result library, wherein the controller test record includes at least one historical monitoring result and a historical test result corresponding to the historical monitoring result, the historical monitoring result being used to characterize the result obtained by monitoring the target variable when testing the vehicle controller according to the controller test case within a historical time period, the historical test result being used to characterize whether the vehicle controller can operate normally based on the historical monitoring result; in response to the error between the historical monitoring result and the variable monitoring result being greater than or equal to a second error threshold, generating a controller test record based on the variable monitoring result and the controller test result, and storing the controller test record in the test result library based on the controller test number, wherein the controller test result is used to characterize whether the currently determined vehicle controller can operate normally.

[0057] In one optional embodiment, to facilitate the management of relevant data for testing the vehicle controller, the testing system can also store the relevant data in a test result database. Based on this, the testing system can first generate a controller test number according to the scenario identifier of the test scenario and the controller identifier of the vehicle controller. Then, it can determine whether there is a controller test record in the test result database that matches the controller test number. That is, the historical monitoring results and historical test results of testing the vehicle controller through the preset test scenario within a historical time period. The historical monitoring results can refer to the results obtained by monitoring the target variables of the vehicle controller during the historical testing process of testing the vehicle controller according to the controller test cases corresponding to the preset test scenario. The historical test results can refer to the test results determined based on the historical monitoring results. If so, the testing system can compare the current variable monitoring results with the historical monitoring results. If the error between the two is large, for example, greater than or equal to the second error threshold, it means that the current operating condition of the vehicle controller has not occurred in the historical testing process. At this time, the testing system can generate the corresponding controller test record based on the current variable monitoring results and the corresponding controller test results, that is, whether the vehicle controller can operate normally as determined by the variable monitoring results. The controller test record is then stored in the test result library according to the controller test number generated above for easy review later. If the error between the two is small, for example, less than the second error threshold, it means that the current operating condition of the vehicle controller has occurred in the historical testing process and does not need to be recorded again. At this time, the testing system does not need to generate the corresponding controller test record.

[0058] To facilitate understanding of the above-described vehicle controller testing process, Figure 2 This is a structural block diagram of a testing device according to an embodiment of this application, such as... Figure 2 As shown, the device may include a power module 201, an electric power steering control assembly 202, a CANoe test tool (CAN / LIN Observer) 203, and a host computer 204. The power module 201 provides power to the test device. The CANoe test tool 203 can be used to control the operation of the electric power steering control assembly 202 to control the vehicle controller to execute controller test cases. The host computer 204 may be configured with a preset interface to receive controller test cases and control the operation of each module in the test device. The electric power steering control assembly 202 can be connected to the positive, negative, and ground terminals of the power module 201, and the ignition switch is also connected to the positive terminal of the power module 201. The CANoe test tool 203 can be connected to the electric power steering control assembly 202 through the high-level signal line CAN_H and the low-level signal line CAN_L.

[0059] Taking the steering controller as an example, Figure 3 This is a schematic diagram of a controller test node according to an embodiment of this application. 301 represents a high-voltage signal simulation node, which can be used to simulate parameters such as lateral and longitudinal acceleration of a vehicle; 302 represents wheel speed, which can be used to simulate parameters such as gear position and driving speed of a vehicle; 303 represents a driving mode interface, which can be used to simulate parameters such as the driving mode of the vehicle when the user controls the vehicle; 304 represents intelligent driving control simulation, which can be used to simulate the driving parameters of the vehicle when it is in autonomous driving mode. Specifically, 304 can be subdivided into several parts such as advanced cruise request model simulation 3041, lane keeping request model simulation 3042, emergency steering assist request model simulation 3043, and autonomous driving request model simulation 3044. By changing different controller test nodes, the purpose of testing the vehicle controller under different preset test scenarios can be achieved.

[0060] Figure 4 This is a structural block diagram of an on-board controller testing system according to an embodiment of this application, such as... Figure 4 As shown, the system can include two parts: 401 is a test management section for constructing controller test cases, and 402 is an automatic testing section for testing the vehicle controller based on the controller test cases. The two parts are connected. Within 401, 4011 represents a vehicle model library, 4012 represents a variable management module, 4013 represents a test management module, 4014 represents a sample management module, and 4015 represents a defect management module. The test system can determine the vehicle controller to be tested using the vehicle model library 4011; obtain multiple variables used to control the steering controller (controller variables) through the variable management module 4012; construct controller test cases to be executed by the vehicle controller through the test management module 4013; store the models and test records of different vehicle controllers through the sample management module 4014; and collect and analyze the test results corresponding to different vehicle controllers in real time through the defect management module 4015. In 402, 4021 represents the preset interface for receiving controller test cases, 4022 represents the configuration module for configuring controller variables according to the controller test cases, and 4023 represents the execution module for executing controller test cases. This vehicle controller testing system automates the testing process of vehicle controllers without requiring the vehicle to actually drive in the corresponding preset scenario, significantly reducing testing costs and improving testing efficiency.

[0061] Example 2

[0062] According to one aspect of the present invention, an on-board controller testing apparatus is also provided. Figure 5 This is a structural block diagram of an on-board controller testing device according to an embodiment of this application, such as... Figure 5 As shown, the device may include: a variable acquisition module 502, a test case construction module 504, a controller testing module 506, and a controller determination module 508.

[0063] The system includes: a variable acquisition module for acquiring at least one controller variable of the vehicle controller to be tested; a test case construction module for constructing controller test cases based on a preset test scenario and the controller variables; a controller testing module for controlling the vehicle controller to execute the controller test cases using a test device and monitoring the target variables of the vehicle controller to obtain variable monitoring results, wherein the test device receives the test cases through a preset interface, and the target variables are used to characterize the variables that will change when the vehicle controller operates normally under the preset test scenario; and a controller determination module for determining whether the vehicle controller can operate normally based on the variable monitoring results.

[0064] Furthermore, the controller determination module is also configured to: obtain calibration test results from the calibration result library that match the controller identifier of the vehicle controller and the scene identifier of the preset test scenario, wherein the calibration result library is used to store the correlation between the controller identifier, the scene identifier and the calibration test results, and the calibration test results are used to characterize the output result of the target variable when the vehicle controller is operating normally under the preset test scenario; perform error statistics on the calibration test results and the variable monitoring results based on the target variable to obtain the test result error; determine that the vehicle controller can operate normally if the test result error is less than or equal to a first error threshold; and determine that the vehicle controller cannot operate normally if the test result error is greater than the first error threshold.

[0065] Furthermore, the test case construction module is also used to: obtain at least one scenario parameter matching the preset test scenario from the test parameter library; obtain at least one test process matching the preset test scenario from the test process library; configure the controller variable based on the scenario parameter to obtain configuration variables; and construct the controller test cases based on the configuration variables and the test process.

[0066] Furthermore, the above-mentioned device also includes: a test case output module for outputting the controller test cases; a process adjustment module for adjusting the configuration variables or the test process based on the policy adjustment instruction in response to receiving the policy adjustment instruction, to obtain new configuration variables or a new test process; and a test case adjustment module for updating the controller test cases based on the new configuration variables or the new test process, to obtain new controller test cases.

[0067] Furthermore, the above-mentioned device also includes: a feature extraction module, used to extract features from the variable monitoring results in response to the vehicle controller malfunctioning, to obtain variable monitoring features; a fault detection module, used to input the variable monitoring features into a fault detection model to obtain fault detection results; and a result output module, used to output the fault detection results.

[0068] Furthermore, the above-mentioned device also includes: a number generation module, used to generate a controller test number based on the scene identifier of the test scenario and the controller identifier of the vehicle controller; a record acquisition module, used to acquire a controller test record matching the controller test number from the test result library, wherein the controller test record includes at least one historical monitoring result and a historical test result corresponding to the historical monitoring result, the historical monitoring result being used to characterize the result obtained by monitoring the target variable when testing the vehicle controller according to the controller test case within a historical time period, the historical test result being used to characterize whether the vehicle controller can operate normally based on the historical monitoring result; and a record storage module, used to generate a controller test record based on the variable monitoring result and the controller test result in response to the error between the historical monitoring result and the variable monitoring result being greater than or equal to a second error threshold, and to store the controller test record in the test result library based on the controller test number, wherein the controller test result is used to characterize whether the currently determined vehicle controller can operate normally.

[0069] Furthermore, the variable acquisition module is also used to: acquire the controller identifier of the vehicle controller; acquire the controller variable that matches the controller identifier from the controller variable library, wherein the controller variable library is used to store the association relationship between the controller identifier and the controller variable, and the controller variable includes: the first controller variable of the vehicle controller and / or the second controller variable of other controllers besides the vehicle controller.

[0070] Example 3

[0071] Embodiments of this application also provide an electronic device, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention during runtime.

[0072] Example 4

[0073] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0074] Example 5

[0075] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0076] Example 6

[0077] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0078] Example 7

[0079] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0080] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0081] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0083] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0084] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0085] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for testing an on-board controller, characterized in that, include: Obtain at least one controller variable of the vehicle controller that needs to be tested, wherein the at least one control variable includes at least one of the following: vehicle speed, steering wheel angle, and connection status parameters of the steering controller and other controllers; Based on the preset test scenario and the controller variables, construct controller test cases, wherein the preset test scenario includes the driving scenario in which the vehicle is in operation during the operation of the vehicle controller; The test equipment controls the vehicle controller to execute the controller test cases and monitors the target variables of the vehicle controller to obtain variable monitoring results. The test equipment receives the test cases through a preset interface, and the target variables are used to characterize the variables that will change when the vehicle controller is running normally under the preset test scenario. Based on the variable monitoring results, determine whether the vehicle controller can operate normally; The process of constructing controller test cases based on a preset test scenario and the controller variables includes: obtaining at least one scenario parameter matching the preset test scenario from a test parameter library; obtaining at least one test process matching the preset test scenario from a test process library; configuring the controller variables based on the scenario parameters to obtain configuration variables; and constructing the controller test cases based on the configuration variables and the test processes.

2. The method according to claim 1, characterized in that, Determining whether the vehicle controller can operate normally based on the variable monitoring results includes: The calibration test results that match the controller identifier of the vehicle controller and the scene identifier of the preset test scenario are obtained from the calibration result library. The calibration result library is used to store the association between the controller identifier, the scene identifier and the calibration test results. The calibration test results are used to characterize the output of the target variable when the vehicle controller is operating normally under the preset test scenario. Based on the target variable, error statistics are performed on the calibration test results and the variable monitoring results to obtain the test result error; If the test result error is less than or equal to a first error threshold, it is determined that the vehicle controller can operate normally. If the error of the test result is greater than the first error threshold, it is determined that the vehicle controller cannot operate normally.

3. The method according to claim 1, characterized in that, The method further includes: Output the controller test cases; In response to receiving a strategy adjustment instruction, the configuration variables or the test process are adjusted based on the strategy adjustment instruction to obtain new configuration variables or a new test process; The controller test cases are updated based on the new configuration variables or the new test process to obtain new controller test cases.

4. The method according to claim 1, characterized in that, The method further includes: In response to the vehicle controller malfunctioning, feature extraction is performed on the variable monitoring results to obtain variable monitoring features; Input the monitored features of the variables into the fault detection model to obtain the fault detection results; Output the fault detection results.

5. The method according to claim 1, characterized in that, The method further includes: Based on the scenario identifier of the test scenario and the controller identifier of the vehicle controller, a controller test number is generated; Obtain controller test records matching the controller test number from the test result database. The controller test records include at least one historical monitoring result and a historical test result corresponding to the historical monitoring result. The historical monitoring result is used to characterize the results obtained by monitoring the target variable when testing the vehicle controller according to the controller test case within a historical time period. The historical test result is used to characterize whether the vehicle controller can operate normally based on the historical monitoring result. In response to the error between the historical monitoring results and the variable monitoring results being greater than or equal to a second error threshold, a controller test record is generated based on the variable monitoring results and the controller test results, and the controller test record is stored in the test result database based on the controller test number. The controller test results are used to characterize whether the currently determined vehicle controller can operate normally.

6. The method according to claim 1, characterized in that, Obtain at least one controller variable of the vehicle controller that needs to be tested, including: Obtain the controller identifier of the vehicle controller; The controller variable that matches the controller identifier is obtained from the controller variable library, wherein the controller variable library is used to store the association between the controller identifier and the controller variable, and the controller variable includes: the first controller variable of the vehicle controller and / or the second controller variable of other controllers besides the vehicle controller.

7. A vehicle-mounted controller testing device, characterized in that, include: The variable acquisition module is used to acquire at least one controller variable of the vehicle controller that needs to be tested. The at least one control variable includes at least one of the following: vehicle speed, steering wheel angle, and connection status parameters of the steering controller and other controllers. The test case building module is used to build controller test cases based on preset test scenarios and the controller variables, wherein the preset test scenarios include the driving scenarios in which the vehicle is in operation when the vehicle controller is running; The controller testing module is used to control the vehicle controller to execute the controller test cases based on the test equipment, and to monitor the target variables of the vehicle controller to obtain variable monitoring results. The test equipment receives the test cases through a preset interface, and the target variables are used to characterize the variables that will change when the vehicle controller is running normally under the preset test scenario. The controller determination module is used to determine whether the vehicle controller can operate normally based on the variable monitoring results. The test case construction module is further configured to obtain at least one scenario parameter matching the preset test scenario from the test parameter library; obtain at least one test process matching the preset test scenario from the test process library; configure the controller variable based on the scenario parameter to obtain configuration variables; and construct the controller test cases based on the configuration variables and the test process.

8. An electronic device, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 6.

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