V2X scene simulation test method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a V2X scene simulation test method and device, electronic equipment and a storage medium. The method comprises the following steps: importing and configuring a map of a test site; configuring an IP address and a port number of the docking equipment; configuring an MAP message; configuring a V2X simulation scene according to the map, the IP address and the port number of the docking device and the MAP message; running the V2X simulation scene to obtain data of a test process; and storing data in the test process. By implementing the method provided by the embodiment of the invention, communication between the OBU and the OBU to be tested and between the RSU and the OBU to be tested can be simulated, so that various conditions of V2V and V2I in a V2X early warning scene are simulated, and the V2X early warning function of the OBU of each manufacturer is comprehensively covered and rapidly tested.

Description

Technical Field

[0001] The present invention relates to a scenario simulation test method, and more specifically to a V2X scenario simulation test method, device, electronic device and storage medium. Background Art

[0003] V2X (Vehicle-to-Everything) is an in-vehicle wireless communication technology used to enable interaction between vehicles and all surrounding entities that support V2X communication. V2X includes V2I (communication between vehicles and roadside equipment, Vehicle-to-Infrastructure) and V2V (communication between vehicles, Vehicle-to-Vehicle). With the help of V2X communication technology, a variety of application scenarios and functions can be expanded.

[0004] For OBU (On-Board Unit) with V2X communication and warning functions, systematic testing is required to verify its functions in various V2X warning scenarios. Existing V2X test systems are roughly divided into two categories: the first type of test system generates various types of warning data and sends them to the OBU to be tested, and verifies its V2X scene communication function by accessing the log of the OBU to be tested, and finally verifies the warning capability by parsing the log; the second type of test system installs two OBUs to be tested on two real vehicles, and drives two vehicles to perform various actions at the same time according to the requirements of the "Application Layer and Application Data Interaction Standard for Vehicle Communication System of Cooperative Intelligent Transportation System", i.e., the application data interaction standard, and uploads the operation process, communication data, etc. to the test system. The V2X scene warning capability of the OBU is verified by analyzing the historical playback, communication data and warning effect of the OBU terminal in the test system.

[0005] However, the existing V2X test systems have certain problems. The first type of test system is not mature, the test efficiency is low, the test process is not intuitive, and more professional skills are required to configure test data and analyze the OBU warning result log. Although the second type of test system can more realistically simulate the vehicle's road driving behavior, it faces a higher risk of collision, and it is difficult to cover all test scenarios using real vehicle testing. Since the release of the second phase of the application data interaction standard in 2020, compared with the first phase, the OBU needs to have data interaction, response and decision-making capabilities, and the difficulty of functional testing has increased significantly. The existing V2X test system generally cannot meet the verification requirements of this stage of the standard.

[0006] Therefore, it is necessary to design a new method to realize the communication between the simulated vehicle OBU and the OBU to be tested, and between the RSU and the OBU to be tested, so as to simulate various situations of V2V and V2I in the V2X warning scenario, and comprehensively cover and quickly test the V2X warning function of OBU of various manufacturers. Summary of the invention

[0008] The purpose of the present invention is to overcome the defects of the prior art and provide a V2X scenario simulation test method, device, electronic device and storage medium.

[0009] To achieve the above object, the present invention adopts the following technical solution: a V2X scenario simulation test method, comprising: Import and configure the map of the test site; Configure the IP address and port number of the interconnected device; Configure MAP messages; Configure the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message; Running the V2X simulation scenario to obtain data of the test process; Save the test process data.

[0010] A further technical solution is: the step of importing and configuring the map of the test site includes: When the map format is JPG / JPEG / PNG format, import the map of the test site and configure the coordinates of the map; when the map format is TIF format or map tile file, import the map of the test site.

[0011] A further technical solution is as follows: the configuration MAP message includes: Use the form to configure the field values ​​and relationships of the node, link, lane, movements, and connectTo nodes; The lane centerline configuration in the points node is calibrated using the map.

[0012] The further technical solution is: configuring the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message includes: Marking an electronic fence area on the map; Calibrate multiple points and set the speed to obtain the path and speed of the simulated car or pedestrian; For scenarios where traffic lights need to be controlled, configure the initial state of the traffic lights and their time intervals to obtain the traffic light cycle; Set the location of roadside incidents and the information broadcast area; Set the decision results of RSU and OBU according to the application data interaction standard.

[0013] A further technical solution is: running the V2X simulation scenario to obtain data of the test process includes: According to the driving path and speed of the simulated vehicle, a BSM message is generated and broadcast through the simulated vehicle OBU. According to the MAP message, roadside events, simulated pedestrians, traffic light cycle and decision results, a specified type of message is generated and broadcast through the RSU to obtain data of the test process.

[0014] Its further technical solution is: according to the driving path and speed of the simulated vehicle, a BSM message is generated and broadcasted through the simulated vehicle OBU; according to the MAP message, roadside events, simulated pedestrians, signal light cycles and decision results, a message of a specified type is generated and broadcasted through the RSU to obtain data of the test process, including: Determine whether the V2X simulation scenario needs to use MAP messages; If the V2X simulation scenario requires the use of MAP messages, the RSU is used to broadcast the MAP messages externally; Determine whether a simulated vehicle is configured in the V2X simulation scenario; If the V2X simulation scenario is configured with a simulated vehicle, a BSM message is generated according to the driving path of the simulated vehicle, and the BSM message is broadcasted externally through the simulated vehicle OBU; Determine whether the V2X simulation scenario is configured with a traffic light; If a traffic light is configured in the V2X simulation scenario, a SPAT message is generated according to the traffic light cycle and broadcasted through the RSU; Determine whether the V2X simulation scenario is configured with roadside events; If the V2X simulation scenario is configured with a roadside event, an RSI message is generated based on the roadside event and broadcasted through the RSU; Receive the BSM message and VIR message sent by the OBU to be tested through the RSU and save them; Rendering the 3D model onto the map in real time through the BSM message of the OBU to be tested; Determine whether the V2X simulation scenario is configured with a decision result; If the V2X simulation scenario configures the decision result, an RSC message is generated according to the decision result and sent to the OBU to be tested via the RSU; The data during the test includes BSM messages, RSI messages, RSC messages, RSM messages, MAP messages, SPAT messages, and VIR messages.

[0015] Its further technical solution is: the electronic fence area is used to trigger the operation of the V2X simulation scenario when the OBU to be tested enters the electronic fence, and the trigger delay is less than 100ms.

[0016] The present invention also provides a V2X scenario simulation test device, including: Import configuration unit, used to import and configure the map of the test site; Device configuration unit, used to configure the IP address and port number of the docking device; A map message configuration unit, used for configuring a MAP message; A scenario configuration unit, configured to configure a V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message; An operating unit, used for operating the V2X simulation scenario to obtain data of a test process; The storage unit is used to store the data of the test process.

[0017] The present invention further provides an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the computer program.

[0018] The present invention also provides a storage medium, wherein the storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0019] Compared with the prior art, the beneficial effect of the present invention is as follows: the present invention imports and configures the map of the test site and the IP address and port number of the docking device, and configures the MAP message. According to these settings, the V2X simulation scenario is configured and run to generate test data. Finally, the data during the test is saved for subsequent analysis, and the communication between the simulated vehicle OBU and the OBU to be tested, and between the RSU and the OBU to be tested is realized, thereby simulating various situations of V2V and V2I in the V2X warning scenario, and comprehensively covering and quickly testing the V2X warning function of OBUs of various manufacturers.

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0023] Figure 1A schematic diagram of an application scenario of the V2X scenario simulation test method provided by an embodiment of the present invention; Figure 2 A schematic diagram of the deployment of a V2X scenario simulation test method provided by an embodiment of the present invention; Figure 3 A flowchart of a V2X scenario simulation test method provided by an embodiment of the present invention; Figure 4 A schematic diagram of a sub-process of a V2X scenario simulation test method provided by an embodiment of the present invention; Figure 5 A schematic diagram of a sub-process of a V2X scenario simulation test method provided by an embodiment of the present invention; Figure 6 A schematic diagram of a sub-process of a V2X scenario simulation test method provided by an embodiment of the present invention; Figure 7 A schematic block diagram of a V2X scenario simulation test device provided in an embodiment of the present invention; Figure 8 A schematic block diagram of a map message configuration unit of a V2X scenario simulation test device provided in an embodiment of the present invention; Fig. 9 A schematic block diagram of a scenario configuration unit of a V2X scenario simulation test device provided in an embodiment of the present invention; Fig.10 A schematic block diagram of an execution unit of a V2X scenario simulation test device provided in an embodiment of the present invention; Fig.11 A schematic block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0027] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0028] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0029] See also Figures 1 to 3 , Figure 1 A schematic diagram of an application scenario of the V2X scenario simulation test method provided in an embodiment of the present invention. Figure 2 A schematic diagram of the deployment of a V2X scenario simulation test method provided by an embodiment of the present invention; Figure 3 A schematic flow chart of a V2X scenario simulation test method provided in an embodiment of the present invention. The V2X scenario simulation test method is applied to a V2X warning simulation platform, which interacts with the test equipment for data. The V2X warning simulation platform can be integrated on a terminal or a server. The test equipment includes an RSU, a simulation vehicle OBU, a network controller, a traffic light, and a variable lane sign. The simulation data generated by the simulation system will be sent by the RSU and the simulation vehicle OBU. Some scenarios require the control of traffic lights and variable lane signs, which are also displayed by the traffic lights and signs controlled by the platform. The equipment involved in this embodiment needs to be deployed in a Figure 2 On the lane shown, import high-definition pictures and configure their coordinate mapping relationships according to the situation, then set the device IP and port, including RSU, OBU, etc.; configure the MAP message of the test area and the coordinates of the lane centerline, calibrate the test scenario path, and set the automatically triggered electronic fence; run the simulation scenario and generate V2X standard data, control the roadside equipment, and analyze the data saved by the platform to verify the early warning capability of the OBU. Realize the communication between the simulated vehicle OBU and the OBU to be tested, and between the RSU and the OBU to be tested, so as to simulate various situations of V2V and V2I in the V2X early warning scenario, and fully cover and quickly test the V2X early warning function of the OBU of each manufacturer.

[0030] Figure 3 Schematic diagram of the flow of the V2X scenario simulation test method provided by an embodiment of the present invention. Figure 3 As shown, the method includes the following steps S110 to S160.

[0031] S110. Import and configure a map of the test site.

[0032] In this embodiment, when the map format is JPG / JPEG / PNG format, the map of the test site is imported and the coordinates of the map are configured; when the map format is TIF format or map tile file, the map of the test site is imported.

[0033] Specifically, in the process of MAP message configuration and simulation scenario configuration, map clarity and coordinate accuracy are key factors. The simulation platform supports multiple map image formats, including jpg, jpeg, png, tif, and map tile files. In order to improve rendering speed, it is recommended to use map tile files. For non-tile format images, the platform will automatically convert them to map tile format.

[0034] Import jpg, jpeg or png format images: These images require coordinate point configuration. Users need to click multiple pixel points on the image and configure the longitude and latitude information for each point. It is recommended to configure at least four points. The more points there are, the higher the coordinate accuracy, thereby reducing coordinate deviation.

[0035] Import tif format images or map tile files: These files have their own coordinate information and do not require further configuration of coordinate points after importing.

[0036] Using map tile files for rendering is more efficient than directly using images in other formats. By configuring more coordinate points, the coordinate accuracy of ordinary image files can be improved. For tif format or map tile files that already have coordinates, no additional configuration is required, which simplifies the process.

[0037] S120. Configure the IP address and port number of the interconnected device.

[0038] In this embodiment, configuring the IP address and port number of the interconnection device includes the following steps: RSU (Road Side Unit): IP address: Assign a unique IP address to the RSU to ensure that it can be identified and accessed on the network.

[0039] Port Number: Specify the port number used by the RSU so that data transmission and communication can proceed correctly.

[0040] OBU (On-Board Unit): IP address: Assign a unique IP address to the OBU on the simulation vehicle so that it can communicate with the RSU and other devices.

[0041] Port number: Set the port number of the OBU, which is used to receive and send data.

[0042] Network Controller: IP Address: Configure the IP address of the network controller to ensure that it can effectively manage network traffic and communication between devices.

[0043] Port number: Assign a port number to the network controller for processing network data flow and control instructions.

[0044] Accurate configuration of IP addresses and port numbers can ensure stable and efficient communication between RSU, OBU and network controllers; enable seamless connection of various devices to achieve coordination and management of the overall system; clear configuration helps to quickly identify and solve network communication problems.

[0045] S130: Configure a MAP message.

[0046] In this embodiment, the MAP message refers to a message format containing road network information in a traffic management and simulation system, and is used to describe the structure, lanes, nodes and connection relationships of a road.

[0047] In one embodiment, see Figure 4 , the above-mentioned step S130 may include steps S131~S132.

[0048] S131. Use the form to configure the field values ​​and relationships of the node node, link node, lane node, movements node, and connectTo node.

[0049] In this embodiment, the Node defines a key point in the road network, such as an intersection or a road end point. The configuration field value includes a location, an ID, and the like.

[0050] The Link node describes the connection status of road segments, that is, the road connection between different nodes. The configuration field values ​​include the starting point, end point, road type, etc.

[0051] The Lane node defines the specific information of the lane, including the number of lanes, lane width and its attributes.

[0052] The Movements node sets the allowed traffic flow modes, such as left turn, right turn, or straight ahead. The configuration field values ​​include flow direction, allowed movement modes, etc.

[0053] The ConnectTo node specifies the connection relationship between nodes, indicating how to connect from one node to another. The configuration field value includes the connection ID and direction, etc.

[0054] Ensure that each road node, lane and connection relationship is accurately described, making traffic simulation and management more precise; by configuring traffic flow patterns, help simulate and control traffic flow and improve the efficiency of the traffic system; through detailed node and connection configuration, data loss or errors in traffic management can be avoided.

[0055] S132: configure the lane centerline in the points node and calibrate it using the map.

[0056] In this embodiment, the Points node: defines the specific coordinate points of the lane centerline, describing the precise location of the lane. The lane centerline coordinates are compared with the actual map to ensure the consistency of the lane information and the map data.

[0057] Accurately configuring lane centerlines can improve the accuracy of simulated lane positions and reduce traffic accidents and errors. Mapping can ensure that lane data matches the actual map, improving the accuracy and reliability of the system. Accurate lane information helps to achieve more effective traffic control and management strategies.

[0058] In this embodiment, in certain V2X warning scenarios, such as red light running warning, cooperative lane change and cooperative vehicle merging, it is necessary to combine MAP messages to implement. The node, link, lane, movements and connectTo nodes in these messages can configure their field values ​​and the relationship between nodes through forms. However, for the lane centerline configuration in the points node, it is difficult to accurately obtain the coordinates of the lane centerline and to intuitively verify the correctness of the input data by relying solely on form input. At this time, by calibrating the lane centerline on a high-precision map, these lane centerlines can be configured more intuitively and efficiently.

[0059] S140. Configure the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message.

[0060] In one embodiment, see Figure 5 , the above-mentioned step S140 may include steps S141~S145.

[0061] S141, marking an electronic fence area on the map.

[0062] In this embodiment, specific areas are defined to monitor and manage moving objects, which helps to ensure that they move within the specified area or trigger an alarm.

[0063] Specifically, electronic fence areas are set on high-precision maps so that specific simulation scenarios are automatically triggered when the OBU (on-board unit) under test enters these fence areas. This allows precise control of the start time of the simulation, thereby testing the warning response effect of the OBU at different distances.

[0064] S142, calibrate multiple points and set the speed to obtain the path and speed of the simulated vehicle or simulated pedestrian.

[0065] In this embodiment, multiple positions are selected for calibration and the driving paths and speeds of vehicles and pedestrians are set to simulate actual traffic situations and ensure that the system can accurately simulate and predict traffic behavior.

[0066] Specifically, multiple points are selected on a high-precision map and different speeds are set for each point to configure the running trajectory of simulated vehicles or pedestrians, which helps to accurately simulate actual traffic conditions and test the performance of the OBU under various conditions.

[0067] S143. For a scenario where a traffic light needs to be controlled, configure the initial state of the traffic light and its time interval to obtain a traffic light cycle.

[0068] In this embodiment, the initial state and cycle time of the traffic light are configured to simulate the changing rules of the traffic light, thereby ensuring that the system can reasonably control and respond to traffic signals.

[0069] Specifically, in scenarios where traffic lights need to be connected, such as red light running warning or vehicle speed guidance, the initial state of the traffic lights and the time intervals of red, green and yellow lights are set. This ensures that the changes in traffic lights are consistent with actual traffic signals and the simulation effect is more realistic.

[0070] S144. Set the location of the roadside incident and the information broadcast area.

[0071] In this embodiment, the location where the event occurs and the information broadcast area are defined to ensure that the event information can be accurately conveyed to relevant traffic participants.

[0072] Specifically, for scenarios that require warnings of road hazards, in-vehicle signs, or road congestion, the location of the roadside event is calibrated and the area for information broadcast is set. This enables the OBU to receive relevant roadside event information, thereby improving its ability to respond to emergencies.

[0073] S145. According to the application data interaction standard, the decision results of the RSU and the OBU are set.

[0074] In this embodiment, the decision results of the roadside unit (RSU) and the on-board unit (OBU) are configured to comply with the data interaction standard to ensure the consistency and accuracy of the system's data communication and decision making.

[0075] Specifically, the decision results of RSU (roadside unit) and OBU are configured according to the data interaction standard. When testing the reaction of OBU when receiving different decision results, for example, in the cooperative lane change scenario, whether to allow OBU to change lanes immediately or after waiting for a certain period of time, ensure that the system can accurately simulate and verify the decision-making ability of OBU.

[0076] In this embodiment, the suggested driving behavior sent by the RSU to the OBU to be tested is configured to test whether the reaction of the OBU after receiving the suggested driving behavior message meets the expected effect.

[0077] The electronic fence area is used to trigger the V2X simulation scenario when the OBU to be tested enters the electronic fence, and the trigger delay is less than 100ms.

[0078] S150: Run the V2X simulation scenario to obtain data of the test process.

[0079] In this embodiment, the data in the test process includes BSM messages, RSI messages, and RSC messages interacted in the test process.

[0080] Specifically, the triggering method for running simulation scenarios: simulation scenarios can be started in two ways: manually clicking the trigger button, or automatically triggered after the vehicle to be tested enters the preset electronic fence. This mechanism ensures that simulation scenarios can be started as required and provide accurate test conditions.

[0081] Once the simulation scenario is run, the system generates data that complies with the V2X standard. This data is broadcast by specific devices, such as: Simulated vehicle OBU: by broadcasting BSM (Basic Safety Message) and VIR (Vehicle Information Request) messages.

[0082] RSU: by broadcasting RSI (Roadside Information), RSM (Roadside Message), SPAT (Signal Phase and Timing), MAP (Map Information) and RSC (Roadside Event Message) messages.

[0083] These data broadcasts are used to simulate actual traffic information exchange and test the response and function of the OBU under test in different situations.

[0084] Control of roadside equipment includes the following: Red light running warning: In this scenario, the system needs to control the state of the traffic light. According to the preset configuration, the traffic light will display different states (such as red light, green light) to simulate real traffic conditions.

[0085] Dynamic Lane Management: In the dynamic lane management scenario, it is necessary to control the display status of the variable lane signs. This can include opening or closing the lane to simulate different lane usage situations.

[0086] By controlling the roadside equipment, the authenticity and accuracy of the simulated scenarios are ensured, thereby effectively testing the performance and response of the OBU in these situations.

[0087] In one embodiment, see Figure 6, the above-mentioned step S150 may include steps S151~S1512.

[0088] S151. Determine whether the V2X simulation scenario needs to use a MAP message.

[0089] In this embodiment, determining whether map data is needed helps optimize the test scenario configuration and avoid unnecessary data broadcasting.

[0090] S152. If the V2X simulation scenario requires the use of a MAP message, the RSU is used to broadcast the MAP message externally.

[0091] In this embodiment, accurate map information support is provided to ensure that the OBU to be tested can receive correct environmental data, thereby better performing simulation testing.

[0092] S153: Determine whether a simulated vehicle is configured for the V2X simulation scenario.

[0093] In this embodiment, it is determined whether it is necessary to generate and broadcast the data of the simulated vehicle, so as to provide a basis for setting up the test environment.

[0094] S154. If the V2X simulation scenario is configured with a simulated vehicle, a BSM message is generated according to the driving path of the simulated vehicle, and the BSM message is broadcast outwardly through the simulated vehicle OBU.

[0095] In this embodiment, a vehicle-to-vehicle (V2V) communication test is implemented, and the receiving and processing capabilities of the OBU are verified by simulating vehicle data.

[0096] S155. Determine whether a traffic light is configured in the V2X simulation scenario.

[0097] In this embodiment, it is determined whether the signal light cycle information is needed to ensure the integrity of the scene setting and the accuracy of the relevant data.

[0098] S156. If the V2X simulation scenario is configured with a traffic light, a SPAT message is generated according to the traffic light cycle and broadcasted outwardly through the RSU.

[0099] In this embodiment, real-time traffic light information support is provided to test the OBU's ability to respond to traffic lights.

[0100] S157. Determine whether a roadside event is configured for the V2X simulation scenario.

[0101] In this embodiment, it is determined whether the roadside event data needs to be broadcasted to ensure that all relevant roadside information is included in the test scenario.

[0102] S158. If the V2X simulation scenario is configured with a roadside event, an RSI message is generated according to the roadside event and broadcasted through the RSU.

[0103] In this embodiment, the OBU's response capability to roadside events is tested to verify the accuracy of the system in handling emergencies.

[0104] S159. Receive the BSM message and VIR message sent by the OBU to be tested through the RSU and save them.

[0105] In this embodiment, test data is collected and analyzed to ensure a detailed evaluation of the performance of the OBU to be tested.

[0106] S1510 , rendering the 3D model onto the map in real time through the BSM message of the OBU to be tested.

[0107] In this embodiment, the position and state of the OBU to be tested are visualized in real time to help observe and analyze its behavior in the simulation scenario.

[0108] S1511. Determine whether the V2X simulation scenario is configured with a decision result.

[0109] In this embodiment, it is determined whether decision result data is needed in order to perform a comprehensive scenario test.

[0110] S1512. If the V2X simulation scenario configures a decision result, an RSC message is generated according to the decision result and sent to the OBU to be tested through the RSU.

[0111] In this embodiment, it is tested how the OBU processes the decision result data to verify its response after receiving the decision information.

[0112] If the V2X simulation scenario does not require the use of MAP messages, then execute step S153; If the V2X simulation scenario is not configured with a simulated vehicle, executing step S155; If the V2X simulation scenario is not configured with a traffic light, execute step S157; If the V2X simulation scenario is not configured with a roadside event, step S159 is executed.

[0113] If the V2X simulation scenario is not configured with a decision result, proceed to the end step.

[0114] In this embodiment, different test steps are taken according to different configurations of V2X simulation scenarios (such as MAP messages, simulated vehicles, traffic lights, roadside events, and decision results); ensuring that each relevant data and message is accurately generated and broadcast to test various functions of the OBU; the optimization of the test process makes the test process more efficient and accurate, and can comprehensively evaluate the performance of the OBU to be tested under different test conditions.

[0115] Specifically, by configuring the driving trajectory and speed of the simulated vehicle, BSM (Basic Safety Message) data is generated and broadcast. These data are broadcast to surrounding vehicles through the OBU (Onboard Unit) on the simulated vehicle. This process is used to test scenarios related to vehicle-to-vehicle (V2V) communication. After receiving the BSM message from the simulated vehicle, the OBU to be tested will think that there is an actual vehicle on the configured path, thereby triggering various V2X warning systems. In fact, there is no actual vehicle on the path. Therefore, even if the actual vehicle of the OBU to be tested makes an operation that may cause a collision, a collision will not actually occur.

[0116] Virtual data testing avoids the risk of collision in actual testing and ensures safety during the test. It can accurately simulate various traffic scenarios and verify whether the OBU can make correct V2X warnings based on the behavior of the virtual vehicle. It reduces the complexity and cost of real vehicle testing and enables effective testing through simulated data.

[0117] According to the configured MAP (map information), roadside events, pedestrian information, signal light cycle and decision results, relevant V2I (vehicle to roadside infrastructure) messages are generated and broadcast, including MAP, RSI (roadside information), RSM (roadside message), SPAT (signal phase and timing), RSC (roadside event message). These data are sent through RSU (roadside unit). After the OBU to be tested receives these messages, the system will observe its reaction to test the functions related to V2I communication.

[0118] It can test how the OBU to be tested responds to various roadside information and traffic control data to ensure its effectiveness in a real traffic environment; it can simulate various traffic conditions and changes in roadside equipment to verify the adaptability of the OBU; and through the broadcast of various message types, more comprehensive test data can be obtained, which helps to optimize the functions and performance of the OBU.

[0119] During the simulation scenario test, the OBU to be tested will broadcast data, such as BSM and VIR (vehicle information request) messages. These data are received by the RSU and transmitted to the simulation platform, where they are rendered in real time through 3D vehicle models and high-precision maps to display the actual location and status of the OBU to be tested. These data will also be saved for subsequent analysis and evaluation.

[0120] The real-time location and status of the OBU to be tested can be viewed intuitively, and problems can be discovered and solved in a timely manner; the saved data is helpful for subsequent analysis and performance evaluation, and supports further optimization and improvement; through visualization, the transparency and understanding of the test process are improved, making data analysis more intuitive and easy to interpret.

[0121] S160. Save the data of the test process.

[0122] In this embodiment, the V2X warning simulation platform is responsible for receiving and saving the data sent by the OBU (on-board unit) to be tested, ensuring that all test data is fully recorded for subsequent analysis.

[0123] By analyzing the saved simulation data and the data of the OBU to be tested, combined with the test process playback function and the warning broadcast of the OBU terminal, the V2X warning capability of the OBU in the simulation scenario is verified. Ensure that the warning function of the OBU in a specific scenario meets expectations and check its performance in actual applications.

[0124] The V2X warning simulation platform saves the process data of the entire simulation scenario test, which is convenient for detailed analysis after the test. At the same time, the test process playback function can be used to review each test link to help find problems, thereby ensuring the accuracy and reliability of the test results.

[0125] In one embodiment, after the OBU to be tested enters the electronic fence, the delay of triggering the simulated scenario in the above method should be less than 100 milliseconds; during the scenario test, the PC5 data synchronization time error between the relevant OBU and the RSU should be less than or equal to 10 milliseconds; the data transmission delay between the V2X warning simulation platform and the RSU and the simulated vehicle OBU should be less than or equal to 10 milliseconds.

[0126] These steps and indicators ensure that the V2X system testing process is efficient and accurate, helping to verify the system's performance in different scenarios.

[0127] The method of this embodiment can realize the communication between the simulated vehicle OBU and the OBU to be tested, and between the RSU and the OBU to be tested by calibrating the path of the simulated vehicle or pedestrian on the high-precision map and configuring the roadside events and decision results. This method simulates the V2V (vehicle to vehicle) and V2I (vehicle to infrastructure) situations in the V2X warning scenario. It not only avoids the possible collision risks in real vehicle testing, but also achieves comprehensive coverage of various test scenarios by configuring different behaviors, speeds and decision results of the simulated vehicle. This method significantly improves the test efficiency, while reducing the test time, difficulty and cost, and has a positive impact on the economic benefits of V2X communication technology.

[0128] The above-mentioned V2X scenario simulation test method imports and configures the map of the test site and the IP address and port number of the docking device, and configures the MAP message. According to these settings, the V2X simulation scenario is configured and run to generate test data. Finally, the data during the test is saved for subsequent analysis, and the communication between the simulated vehicle OBU and the OBU to be tested, and between the RSU and the OBU to be tested is realized, thereby simulating various situations of V2V and V2I in the V2X warning scenario, comprehensively covering and quickly testing the V2X warning function of OBU of various manufacturers.

[0129] Figure 7 is a schematic block diagram of a V2X scenario simulation test device 300 provided in an embodiment of the present invention. Figure 7 As shown, corresponding to the above V2X scenario simulation test method, the present invention also provides a V2X scenario simulation test device 300. The V2X scenario simulation test device 300 includes a unit for executing the above V2X scenario simulation test method, and the device can be configured in a desktop computer, a tablet computer, a laptop, etc. For details, please refer to Figure 7 The V2X scenario simulation test device 300 includes an import configuration unit 301, a device configuration unit 302, a map message configuration unit 303, a scenario configuration unit 304, a running unit 305 and a saving unit 306.

[0130] The import configuration unit 301 is used to import and configure the map of the test site; the device configuration unit 302 is used to configure the IP address and port number of the docking device; the map message configuration unit 303 is used to configure the MAP message; the scenario configuration unit 304 is used to configure the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message; the running unit 305 is used to run the V2X simulation scenario to obtain the data of the test process; the saving unit 306 is used to save the data of the test process.

[0131] In one embodiment, the import configuration unit 301 is used to import the map of the test site and configure the coordinates of the map when the map format is JPG / JPEG / PNG format; when the map format is TIF format or map tile file, import the map of the test site.

[0132] In one embodiment, if Figure 8 As shown, the map message configuration unit 303 includes a node configuration subunit 3031 and a calibration subunit 3032 .

[0133] The map message node configuration subunit 3031 is used to use a form to configure the field values ​​and relationships of the node node, link node, lane node, movements node and connectTo node; the calibration subunit 3032 is used to configure the lane center line in the points node and calibrate it through the map.

[0134] In one embodiment, if Fig. 9 As shown, the scene configuration unit 304 includes an electronic fence calibration subunit 3041, a simulation object setting subunit 3042, a traffic light setting subunit 3043, a roadside event setting subunit 3044 and a decision result setting subunit 3045.

[0135] The electronic fence calibration subunit 3041 is used to calibrate the electronic fence area on the map; the simulation object setting subunit 3042 is used to calibrate multiple points and set the speed to obtain the path and speed of the simulated car or simulated pedestrian; the traffic light setting subunit 3043 is used to configure the initial state of the traffic light and its time interval for the scene where the traffic light needs to be controlled to obtain the traffic light cycle; the roadside event setting subunit 3044 is used to set the location of the occurrence of the roadside event and the information broadcast area; the decision result setting subunit 3045 is used to set the decision results of the RSU and OBU according to the application data interaction standard.

[0136] In one embodiment, the operating unit 305 is used to generate a BSM message according to the driving path and speed of the simulated vehicle, and broadcast it through the simulated vehicle OBU. According to the MAP message, roadside events, simulated pedestrians, traffic light cycles and decision results, a specified type of message is generated and broadcast through the RSU to obtain data of the test process.

[0137] In one embodiment, if Fig.10 As shown, the running unit 305 includes a first judgment subunit 3051, a first broadcasting subunit 3052, a second judgment subunit 3053, a second broadcasting subunit 3054, a third judgment subunit 3055, a third broadcasting subunit 3056, a fourth judgment subunit 3057, a fourth broadcasting subunit 3058, a saving subunit 3059, a rendering subunit 30510, a fifth judgment subunit 30511 and a message generating subunit 30512.

[0138] The first judgment subunit 3051 is used to judge whether the V2X simulation scenario needs to use MAP messages; the first broadcast subunit 3052 is used to broadcast the MAP message using RSU if the V2X simulation scenario needs to use MAP messages; the second judgment subunit 3053 is used to judge whether the V2X simulation scenario is configured with a simulated vehicle; the second broadcast subunit 3054 is used to generate a BSM message according to the driving path of the simulated vehicle if the V2X simulation scenario is configured with a simulated vehicle, and broadcast the BSM message through the simulated vehicle OBU; the third judgment subunit 3055 is used to judge whether the V2X simulation scenario is configured with a traffic light; the third broadcast subunit 3056 is used to generate a SPAT message according to the traffic light cycle if the V2X simulation scenario is configured with a traffic light, and broadcast it through the RSU; the fourth judgment subunit 3057 is used to judge whether the V2X simulation scenario is configured with a traffic light Whether roadside events are configured; the fourth broadcast subunit 3058 is used to generate an RSI message according to the roadside event if the V2X simulation scenario is configured with a roadside event, and broadcast it outward through the RSU; the saving subunit 3059 is used to receive the BSM message and VIR message sent by the OBU to be tested through the RSU, and save them; the rendering subunit 30510 is used to render the 3D model on the map in real time through the BSM message of the OBU to be tested; the fifth judgment subunit 30511 is used to judge whether the V2X simulation scenario is configured with a decision result; the message generation subunit 30512 is used to generate an RSC message according to the decision result if the V2X simulation scenario is configured with a decision result, and send it to the OBU to be tested through the RSU; the data during the test includes BSM messages, RSI messages, RSC messages, RSM messages, MAP messages, SPAT messages, and VIR messages.

[0139] It should be noted that technicians in the relevant field can clearly understand that the specific implementation process of the above-mentioned V2X scenario simulation test device 300 and each unit can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and conciseness of the description, it will not be repeated here.

[0140] The V2X scenario simulation test device 300 may be implemented in the form of a computer program. Fig.11 The electronic device shown is running.

[0141] See also Fig.11 , Fig.11 1 is a schematic block diagram of an electronic device provided in an embodiment of the present application. The electronic device 500 may be a terminal or a server, wherein the terminal may be an electronic device with communication functions such as a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, and a wearable device. The server may be an independent server or a server cluster composed of multiple servers.

[0142] See also Fig.11 The electronic device 500 includes a processor 502 , a memory and a network interface 505 connected via a system bus 501 , wherein the memory may include a non-volatile storage medium 503 and an internal memory 504 .

[0143] The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions, which, when executed, may enable the processor 502 to perform a V2X scenario simulation test method.

[0144] The processor 502 is used to provide computing and control capabilities to support the operation of the entire electronic device 500 .

[0145] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a V2X scenario simulation test method.

[0146] The network interface 505 is used to communicate with other devices over the network. Fig.11 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device 500 to which the scheme of the present application is applied. The specific electronic device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] The processor 502 is used to run the computer program 5032 stored in the memory to implement the following steps: Import and configure a map of the test site; configure the IP address and port number of the docking device; configure the MAP message; configure the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message; run the V2X simulation scenario to obtain data of the test process; and save the data of the test process.

[0148] In one embodiment, when implementing the step of importing and configuring the map of the test site, the processor 502 specifically implements the following steps: When the map format is JPG / JPEG / PNG format, import the map of the test site and configure the coordinates of the map; when the map format is TIF format or map tile file, import the map of the test site.

[0149] In one embodiment, when implementing the step of configuring the MAP message, the processor 502 specifically implements the following steps: Use the form to configure the field values ​​and relationships of the node node, link node, lane node, movements node, and connectTo node; configure the lane centerline in the points node and calibrate it through the map.

[0150] In one embodiment, when the processor 502 implements the step of configuring the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message, the processor 502 specifically implements the following steps: Mark the electronic fence area on the map; mark multiple points and set the speed to obtain the path and speed of the simulated car or simulated pedestrian; for the scene where the traffic light needs to be controlled, configure the initial state of the traffic light and its time interval to obtain the traffic light cycle; set the location of the roadside event and the information broadcast area; set the decision results of the RSU and OBU according to the application data interaction standard.

[0151] Among them, the electronic fence area is used to trigger the operation of the V2X simulation scenario when the OBU to be tested enters the electronic fence, and the trigger delay is less than 100ms.

[0152] In one embodiment, when the processor 502 implements the step of running the V2X simulation scenario to obtain data of the test process, the processor 502 specifically implements the following steps: According to the driving path and speed of the simulated vehicle, a BSM message is generated and broadcast through the simulated vehicle OBU. According to the MAP message, roadside events, simulated pedestrians, traffic light cycle and decision results, a specified type of message is generated and broadcast through the RSU to obtain data of the test process.

[0153] In one embodiment, the processor 502 implements the steps of generating a BSM message according to the driving path and speed of the simulated vehicle, broadcasting it through the simulated vehicle OBU, generating a message of a specified type according to the MAP message, roadside events, simulated pedestrians, traffic light cycles and decision results, and broadcasting it through the RSU to obtain data of the test process, and specifically implements the following steps: Determine whether the V2X simulation scenario needs to use MAP messages; if the V2X simulation scenario needs to use MAP messages, use RSU to broadcast the MAP messages; determine whether the V2X simulation scenario is configured with a simulated vehicle; if the V2X simulation scenario is configured with a simulated vehicle, generate a BSM message according to the driving path of the simulated vehicle, and broadcast the BSM message through the simulated vehicle OBU; determine whether the V2X simulation scenario is configured with a traffic light; if the V2X simulation scenario is configured with a traffic light, generate a SPAT message according to the traffic light cycle, and broadcast it through RSU; determine whether the V2X simulation scenario is configured with a roadside event; if the V2X simulation scenario is configured with a roadside event, generate an RSI message according to the roadside event, and broadcast it through RSU; receive the BSM message and VIR message sent by the OBU to be tested through RSU, and save them; render the 3D model on the map in real time through the BSM message of the OBU to be tested; determine whether the V2X simulation scenario is configured with a decision result; if the V2X simulation scenario is configured with a decision result, generate an RSC message according to the decision result, and send it to the OBU to be tested through RSU; Among them, the data during the test process includes BSM messages, RSI messages, RSC messages, RSM messages, MAP messages, SPAT messages, and VIR messages.

[0154] It should be understood that in the embodiment of the present application, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0155] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0156] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein when the computer program is executed by a processor, the processor executes the following steps: Import and configure a map of the test site; configure the IP address and port number of the docking device; configure the MAP message; configure the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message; run the V2X simulation scenario to obtain data of the test process; and save the data of the test process.

[0157] In one embodiment, when the processor executes the computer program to implement the step of importing and configuring the map of the test site, the processor specifically implements the following steps: When the map format is JPG / JPEG / PNG format, import the map of the test site and configure the coordinates of the map; when the map format is TIF format or map tile file, import the map of the test site.

[0158] In one embodiment, when the processor executes the computer program to implement the step of configuring the MAP message, the processor specifically implements the following steps: Use the form to configure the field values ​​and relationships of the node node, link node, lane node, movements node, and connectTo node; configure the lane centerline in the points node and calibrate it through the map.

[0159] In one embodiment, when the processor executes the computer program to implement the step of configuring the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message, the processor specifically implements the following steps: Mark the electronic fence area on the map; mark multiple points and set the speed to obtain the path and speed of the simulated car or simulated pedestrian; for the scene where the traffic light needs to be controlled, configure the initial state of the traffic light and its time interval to obtain the traffic light cycle; set the location of the roadside event and the information broadcast area; set the decision results of the RSU and OBU according to the application data interaction standard.

[0160] Among them, the electronic fence area is used to trigger the operation of the V2X simulation scenario when the OBU to be tested enters the electronic fence, and the trigger delay is less than 100ms.

[0161] In one embodiment, when the processor executes the computer program to implement the step of running the V2X simulation scenario to obtain data of the test process, the processor specifically implements the following steps: According to the driving path and speed of the simulated vehicle, a BSM message is generated and broadcast through the simulated vehicle OBU. According to the MAP message, roadside events, simulated pedestrians, traffic light cycle and decision results, a specified type of message is generated and broadcast through the RSU to obtain data of the test process.

[0162] In one embodiment, when the processor executes the computer program to implement the steps of generating a BSM message according to the driving path and speed of the simulated vehicle, broadcasting it through the simulated vehicle OBU, generating a message of a specified type according to the MAP message, roadside events, simulated pedestrians, traffic light cycles and decision results, and broadcasting it through the RSU to obtain data of the test process, the following steps are specifically implemented: Determine whether the V2X simulation scenario needs to use MAP messages; if the V2X simulation scenario needs to use MAP messages, use RSU to broadcast the MAP messages; determine whether the V2X simulation scenario is configured with a simulated vehicle; if the V2X simulation scenario is configured with a simulated vehicle, generate a BSM message according to the driving path of the simulated vehicle, and broadcast the BSM message through the simulated vehicle OBU; determine whether the V2X simulation scenario is configured with a traffic light; if the V2X simulation scenario is configured with a traffic light, generate a SPAT message according to the traffic light cycle, and broadcast it through RSU; determine whether the V2X simulation scenario is configured with a roadside event; if the V2X simulation scenario is configured with a roadside event, generate an RSI message according to the roadside event, and broadcast it through RSU; receive the BSM message and VIR message sent by the OBU to be tested through RSU, and save them; render the 3D model on the map in real time through the BSM message of the OBU to be tested; determine whether the V2X simulation scenario is configured with a decision result; if the V2X simulation scenario is configured with a decision result, generate an RSC message according to the decision result, and send it to the OBU to be tested through RSU; Among them, the data during the test process includes BSM messages, RSI messages, RSC messages, RSM messages, MAP messages, SPAT messages, and VIR messages.

[0163] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0164] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0165] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0166] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, 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.

[0167] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially 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. The computer software product is stored in a storage medium and includes several instructions for enabling an electronic device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0168] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. V2X scenario simulation test method, characterized in that: include: Import and configure the map of the test site; Configure the IP address and port number of the interconnected device; Configure MAP messages; Configure the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message; Running the V2X simulation scenario to obtain data of the test process; Save the test process data.

2. The V2X scenario simulation test method according to claim 1, characterized in that: The step of importing and configuring the test site map includes: When the map format is JPG / JPEG / PNG format, import the map of the test site and configure the coordinates of the map; when the map format is TIF format or map tile file, import the map of the test site.

3. The V2X scenario simulation test method according to claim 1, characterized in that: The configuration MAP message includes: Use the form to configure the field values ​​and relationships of the node, link, lane, movements, and connectTo nodes; The lane centerline configuration in the points node is calibrated using the map.

4. The V2X scenario simulation test method according to claim 1, characterized in that: The configuring the V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message includes: Marking an electronic fence area on the map; Calibrate multiple points and set the speed to obtain the path and speed of the simulated car or pedestrian; For scenarios where traffic lights need to be controlled, configure the initial state of the traffic lights and their time intervals to obtain the traffic light cycle; Set the location of roadside incidents and the information broadcast area; Set the decision results of RSU and OBU according to the application data interaction standard.

5. The V2X scenario simulation test method according to claim 4, characterized in that: The running of the V2X simulation scenario to obtain data of the test process includes: According to the driving path and speed of the simulated vehicle, a BSM message is generated and broadcast through the simulated vehicle OBU. According to the MAP message, roadside events, simulated pedestrians, traffic light cycle and decision results, a specified type of message is generated and broadcast through the RSU to obtain data of the test process.

6. The V2X scenario simulation test method according to claim 5, characterized in that: The BSM message is generated according to the driving path and speed of the simulated vehicle, and is broadcasted through the simulated vehicle OBU. According to the MAP message, roadside events, simulated pedestrians, signal light cycles and decision results, a message of a specified type is generated and broadcasted through the RSU to obtain data of the test process, including: Determine whether the V2X simulation scenario needs to use MAP messages; If the V2X simulation scenario requires the use of MAP messages, the RSU is used to broadcast the MAP messages externally; Determine whether a simulated vehicle is configured in the V2X simulation scenario; If the V2X simulation scenario is configured with a simulated vehicle, a BSM message is generated according to the driving path of the simulated vehicle, and the BSM message is broadcasted externally through the simulated vehicle OBU; Determine whether the V2X simulation scenario is configured with a traffic light; If the V2X simulation scenario is configured with a traffic light, a SPAT message is generated according to the traffic light cycle and broadcasted through the RSU; Determine whether the V2X simulation scenario is configured with roadside events; If the V2X simulation scenario is configured with a roadside event, an RSI message is generated based on the roadside event and broadcasted through the RSU; Receive the BSM message and VIR message sent by the OBU to be tested through the RSU and save them; Rendering the 3D model onto the map in real time through the BSM message of the OBU to be tested; Determine whether the V2X simulation scenario is configured with a decision result; If the V2X simulation scenario configures the decision result, an RSC message is generated according to the decision result and sent to the OBU to be tested via the RSU; The data during the test includes BSM messages, RSI messages, RSC messages, RSM messages, MAP messages, SPAT messages, and VIR messages.

7. The V2X scenario simulation test method according to claim 4, characterized in that: The electronic fence area is used to trigger the V2X simulation scenario when the OBU to be tested enters the electronic fence, and the trigger delay is less than 100ms.

8. V2X scenario simulation test device, characterized in that: include: Import configuration unit, used to import and configure the map of the test site; Device configuration unit, used to configure the IP address and port number of the docking device; A map message configuration unit, used for configuring a MAP message; A scenario configuration unit, configured to configure a V2X simulation scenario according to the map, the IP address and port number of the docking device, and the MAP message; An operating unit, used for operating the V2X simulation scenario to obtain data of a test process; The storage unit is used to store the data of the test process.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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