Navigation playback method, device and equipment based on extensible service oriented middleware protocol and storage medium

Abstract

The invention discloses a navigation playback method, device and equipment based on an extensible service oriented middleware protocol and a storage medium, relates to the technical field of automobile testing, and discloses the navigation playback method based on the extensible service oriented middleware protocol. Obtaining standard navigation data according to the standard working condition route; building a vehicle machine environment to obtain a target vehicle machine; simulating a remote communication terminal, and importing the standard navigation data into a target vehicle machine according to an extensible service oriented middleware protocol and the remote communication terminal to obtain a target route; and performing navigation playback according to the target route and the standard navigation data. Through the technical means of simulating real vehicle navigation data for data playback, the technical problems of large vehicle resource and personnel resource consumption and short test period in real vehicle dynamic test are solved, and the technical effects of reducing test cost, improving test efficiency and covering full-road-condition full-period test requirements are achieved.

Description

Technical Field

[0001] The present application relates to the field of automobile testing technology, and in particular to a navigation playback method, device, equipment and storage medium based on an extensible service-oriented middleware protocol. Background Art

[0002] During the vehicle project development phase, the vehicle navigation system needs to be fully verified to ensure its performance and reliability under various road conditions. This usually requires a real vehicle dynamic road test, including tests on different road conditions such as urban roads and highways.

[0003] However, conventional vehicle resources are insufficient, environmental information is usually a shared resource, and the environment does not match the software and needs to be updated frequently. During the actual vehicle test, if the vehicle is in poor condition or has a malfunction, the test work will be suspended directly. At the same time, the driver needs to be coordinated to conduct special tests. The test process is unstable, and the full-cycle test work cannot be met in the case of a short test cycle, and the test results are incomplete.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a navigation playback method, device, equipment and storage medium based on an extensible service-oriented middleware protocol, aiming to solve the technical problem of difficulty in vehicle navigation verification due to real vehicle dynamic test resource limitations and test cycle limitations during the vehicle project development stage.

[0006] To achieve the above purpose, the present application proposes a navigation playback method based on an extensible service-oriented middleware protocol, the method comprising:

[0007] Setting a standard operating route, and obtaining standard navigation data according to the standard operating route;

[0008] Build the vehicle environment and obtain the target vehicle;

[0009] Simulating a remote communication terminal, and importing the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route;

[0010] Navigation playback is performed according to the target route and the standard navigation data.

[0011] In one embodiment, the step of simulating a remote communication terminal and importing the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route includes:

[0012] Simulating a remote communication terminal, and establishing a connection between the remote communication terminal and the target vehicle computer according to an extensible service-oriented middleware protocol to obtain a target test connection;

[0013] The standard navigation data is imported into the target vehicle computer according to the target test connection to obtain the target route.

[0014] In one embodiment, the step of importing the standard navigation data into a target vehicle computer according to the target test connection to obtain a target route includes:

[0015] Importing the standard navigation data into the target vehicle computer according to the target test connection;

[0016] Obtaining the initial positioning information of the target vehicle computer and the starting point and end point of the standard navigation data;

[0017] Update the initial positioning information according to the starting point to obtain the starting point of the target route;

[0018] The target route is obtained according to the starting point of the target route, the end point and preset navigation information.

[0019] In one embodiment, the step of performing navigation playback according to the target route and the standard navigation data includes:

[0020] Controlling the target vehicle computer to navigate according to the target route;

[0021] During navigation, the standard navigation data is imported according to a preset period to obtain navigation playback data;

[0022] Navigation playback is performed according to the navigation playback data.

[0023] In one embodiment, the step of setting a standard operating route and obtaining standard navigation data according to the standard operating route includes:

[0024] Get preset driving scenarios;

[0025] Setting a standard operating route according to the preset driving scenario;

[0026] Standard navigation data is obtained according to the standard operating route, the preset data acquisition tool and the extensible service-oriented middleware protocol.

[0027] In one embodiment, the step of obtaining standard navigation data according to the standard operating route, the preset data acquisition tool and the extensible service-oriented middleware protocol includes:

[0028] Controlling the vehicle to travel according to the standard operating route;

[0029] Acquiring navigation data during the driving of the vehicle;

[0030] Extracting the navigation data according to the preset data acquisition tool and the extensible service-oriented middleware protocol to obtain initial navigation data;

[0031] Valid data in the initial navigation data is extracted to obtain standard navigation data.

[0032] In one embodiment, the step of extracting valid data from the initial navigation data to obtain standard navigation data includes:

[0033] Analyzing whether the parameters of the initial navigation data are complete according to a preset parameter list;

[0034] When the parameters are incomplete, updating the initial navigation data according to the incomplete data to obtain complete navigation data;

[0035] Analyzing errors of the complete navigation data, and updating the complete navigation data according to the errors to obtain valid navigation data;

[0036] Standard navigation data is obtained according to the effective navigation data.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a navigation playback device based on an extensible service-oriented middleware protocol, the navigation playback device based on an extensible service-oriented middleware protocol comprising: a setting module, used to set a standard operating route, and obtain standard navigation data according to the standard operating route;

[0038] Building module, used to build the vehicle environment and obtain the target vehicle;

[0039] An import module, used for simulating a remote communication terminal, and importing the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route;

[0040] A playback module is used to perform navigation playback according to the target route and the standard navigation data.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a navigation playback device based on an extensible service-oriented middleware protocol, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the navigation playback method based on the extensible service-oriented middleware protocol as described above.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the navigation playback method based on the extensible service-oriented middleware protocol as described above are implemented.

[0043] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the navigation playback method based on the extensible service-oriented middleware protocol as described above.

[0044] One or more technical solutions proposed in this application have at least the following technical effects:

[0045] The technical means of setting a standard working condition route and obtaining standard navigation data according to the standard working condition route; building a vehicle computer environment to obtain a target vehicle computer; simulating a remote communication terminal, and importing the standard navigation data into the target vehicle computer according to the extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route; and performing navigation playback according to the target route and the standard navigation data solves the problems of high dependence of real vehicle dynamic testing on vehicle resources and personnel resources, short testing cycle, and difficulty in covering full road condition and full cycle testing requirements in the prior art. Compared with the prior art, the demand for real vehicle resources is reduced, the testing cost is reduced, and the flexibility and efficiency of the test are improved. By simulating different road conditions, the testing requirements of full road conditions and full cycle are realized, the verification process of the vehicle navigation system is accelerated, the R&D cycle is shortened, and the reliability and stability of the vehicle navigation system are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 A flowchart diagram of a first embodiment of a navigation playback method based on an extensible service-oriented middleware protocol of the present application is provided;

[0049] Figure 2 A flowchart diagram of a second embodiment of a navigation playback method based on an extensible service-oriented middleware protocol of the present application is provided;

[0050] Figure 3 A brief flowchart of a navigation playback method based on an extensible service-oriented middleware protocol provided in Embodiment 2 of the present application;

[0051] Figure 4 This is a schematic diagram of the module structure of a navigation playback device based on an extensible service-oriented middleware protocol according to an embodiment of the present application;

[0052] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the navigation playback method based on the extensible service-oriented middleware protocol in the embodiment of the present application.

[0053] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0055] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0056] The main solution of the embodiment of the present application is: setting a standard working condition route, and obtaining standard navigation data according to the standard working condition route;

[0057] Build the vehicle environment and obtain the target vehicle;

[0058] Simulating a remote communication terminal, and importing the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route;

[0059] Navigation playback is performed according to the target route and the standard navigation data.

[0060] In this embodiment, for the convenience of description, the following description is made by taking the identification of a navigation playback device based on an extensible service-oriented middleware protocol as an execution subject.

[0061] Due to the existing technology, the vehicle navigation verification is difficult due to the limitation of real vehicle dynamic test resources and test cycle in the vehicle project development stage. This application provides a solution, which adopts the setting of standard working condition route, and obtains standard navigation data according to the standard working condition route; builds the vehicle environment to obtain the target vehicle; simulates the remote communication terminal, and imports the standard navigation data into the target vehicle according to the extensible service-oriented middleware protocol and the remote communication terminal to obtain the target route; and performs navigation playback according to the target route and the standard navigation data. The technical means solves the problems of high dependence of real vehicle dynamic testing on vehicle resources and personnel resources, short test cycle, and difficulty in covering the full road condition and full cycle test requirements in the existing technology. Compared with the existing technology, the demand for real vehicle resources is reduced, the test cost is reduced, and the flexibility and efficiency of the test are improved. By simulating different road conditions, the test requirements of full road conditions and full cycle are realized, the verification process of the vehicle navigation system is accelerated, the research and development cycle is shortened, and the reliability and stability of the vehicle navigation system are improved.

[0062] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a navigation playback device based on an extensible service-oriented middleware protocol, etc. The following takes a navigation playback device based on an extensible service-oriented middleware protocol as an example to illustrate this embodiment and the following embodiments.

[0063] Based on this, the embodiment of the present application provides a navigation playback method based on an extensible service-oriented middleware protocol, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the navigation playback method based on the extensible service-oriented middleware protocol of the present application.

[0064] In this embodiment, the navigation playback method based on the scalable service-oriented middleware protocol includes steps S10 to S40:

[0065] Step S10, setting a standard operating route, and obtaining standard navigation data according to the standard operating route;

[0066] It should be noted that standard operating routes refer to routes preset in specific test conditions, which represent typical driving scenarios that vehicles may encounter during actual use. These scenarios include but are not limited to urban roads, highways, rural roads, elevated roads, airports, underground garages, etc.

[0067] In addition, it should be noted that standard navigation data refers to navigation data collected when driving on a standard operating route. These data can reflect the navigation performance of the vehicle on a specific route.

[0068] It is understandable that standard navigation data is Global Navigation Satellite System (GNSS) data. GNSS is a general term, including multiple satellite navigation systems. For projects using a service-oriented architecture (SOA), GNSS data is service data based on Scalable service-oriented middleware protocol (Scalable service-oriented MiddlewarE over IP, Some / IP). In the present embodiment, standard navigation data is service data based on Some / IP protocol. GNSS data includes UTC time, valid flag, latitude, accuracy, height above sea level, height above the earth ellipsoid, position information fusion flag, positioning mode, motion heading (2-D), number of satellites used for current positioning, ground speed (2-D), estimated horizontal accuracy, vertical direction accuracy, positioning mode, maximum number of current star search and satellite list information.

[0069] UTC time is Coordinated Universal Time (UTC), which is the most widely used world time standard internationally and is used to ensure global time synchronization. The valid flag indicates whether the data is valid and is used for data quality control. Latitude refers to the geographical coordinates marked by a ring line parallel to the equatorial plane on the earth's surface, which is used to determine the position on the earth's surface. Accuracy refers to the accuracy of latitude, which is usually used to describe the accuracy of latitude values. Height above sea level refers to the height calculated from sea level, which is usually used to describe altitude. Height above the earth ellipsoid refers to the height calculated from the earth ellipsoid model. The position information fusion flag indicates whether multiple positioning methods are used for data fusion. The positioning method indicates the positioning technology or method used. Motion heading (2-D): refers to the direction of the object's movement. The number of satellites used for current positioning refers to the number of satellites used in the current positioning calculation. Ground speed (2-D) refers to the speed at which the object moves on the ground. Estimated horizontal accuracy: an estimate of the positioning accuracy in the horizontal direction. Vertical accuracy indicates an estimate of the positioning accuracy in the vertical direction. Positioning mode indicates the positioning mode used, such as static positioning or dynamic positioning. The maximum number of satellites currently searched refers to the maximum number of satellites that can be searched. Satellite list information means providing detailed information about the satellites currently used in positioning.

[0070] Step S20, building a vehicle computer environment and obtaining a target vehicle computer;

[0071] It should be noted that the vehicle environment refers to the electronic system environment that simulates the interior of the vehicle, especially the in-vehicle infotainment system (IVI) or vehicle system. This environment usually includes the vehicle's display screen, operating system, navigation software, and other related hardware and software components. The target vehicle refers to the vehicle system built in the simulation environment for testing. The target vehicle can simulate the vehicle functions in a real vehicle, including but not limited to receiving and processing navigation data, displaying navigation information, etc.

[0072] It is understandable that a simulated vehicle environment needs to be built, and the target vehicle built based on this vehicle environment should be able to simulate the behavior of the vehicle system in a real vehicle. The steps to build the vehicle environment include but are not limited to: providing power to the vehicle system so that it can work properly. Installing and configuring the software required for the vehicle system, including operating systems, navigation applications, etc. Connecting necessary hardware devices, such as displays, sensors, data interfaces, etc.

[0073] Step S30, simulating a remote communication terminal, and importing the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route;

[0074] It should be noted that the remote communication terminal refers to the communication module in the vehicle, such as the Telematics Box (TBOX), which is responsible for exchanging data with external systems such as service centers and cloud platforms. Scalable service-oriented middleware protocol (Scalable service-oriented middleware over IP, Some / IP) is a communication protocol used for service communication in the car, supporting service discovery, description and communication. The target route refers to the simulated route obtained by importing standard navigation data into the target vehicle computer.

[0075] It can be understood that simulating a remote communication terminal means creating a simulated TBOX environment that can simulate the functions of an actual TBOX, including communication and data exchange with the vehicle computer system. Importing a target vehicle computer means using the Some / IP protocol to establish a communication connection between the simulated TBOX and the target vehicle computer, and sending standard navigation data to the target vehicle computer through the established connection.

[0076] In a feasible implementation, step S30 may include steps S31 to S32:

[0077] Step S31, simulating a remote communication terminal, and establishing a connection between the remote communication terminal and the target vehicle computer according to an extensible service-oriented middleware protocol to obtain a target test connection;

[0078] It should be noted that the target test connection refers to the remote communication terminal, that is, the connection for data transmission established between the simulated TBOX and the target vehicle computer.

[0079] It is understood that the steps of establishing the connection may be: setting the simulator to simulate the functions of the TBOX, including the configuration of the communication protocol stack, when simulating the remote communication terminal. Using the Some / IP protocol to establish the communication connection between the simulator and the target vehicle. The simulated TBOX subscribes to the service provided by the target vehicle to establish the connection. After the simulated TBOX and the target vehicle establish the connection, it is necessary to confirm that the connection is successful and the data can be transmitted normally. After confirming that the connection is normal, the simulated TBOX is ready to start sending navigation data.

[0080] Step S32: importing the standard navigation data into the target vehicle computer according to the target test connection to obtain a target route.

[0081] It is understood that importing means sending the standard navigation data to the target vehicle computer through the established communication connection. After being imported into the target vehicle computer, the standard navigation data will be processed, and the target route can be obtained according to the processed data.

[0082] In a feasible implementation manner, step S32 includes steps S321 to S324:

[0083] Step S321, importing the standard navigation data into the target vehicle computer according to the target test connection;

[0084] It can be understood that importing the standard navigation data into the target vehicle computer according to the target test connection means sending the navigation data collected and preprocessed before, including the navigation information of the vehicle on a specific route, to the target vehicle computer through the target test connection according to the communication connection between the simulated TBOX and the target vehicle computer that has been established.

[0085] Step S322, obtaining the initial positioning information of the target vehicle computer and the starting point and end point of the standard navigation data;

[0086] It should be noted that the initial positioning information is the current position information of the target vehicle automatically obtained when the vehicle is started, usually provided by the GPS module built into the vehicle. The starting point and end point of the standard navigation data refer to the starting and ending positions of the route defined in the standard navigation data.

[0087] Step S323, updating the initial positioning information according to the starting point to obtain the starting point of the target route;

[0088] It can be understood that updating means replacing the initial positioning information of the target vehicle computer with the starting point information in the standard navigation data.

[0089] It should be noted that the starting point of the target route is the updated location information, indicating the location where the navigation playback starts.

[0090] Step S324, obtaining the target route according to the starting point of the target route, the end point and preset navigation information.

[0091] It is understandable that, according to the starting point of the target route, the end point and the preset navigation information, the target route is obtained to indicate that in addition to the starting point and the end point, the information required for playback also includes but is not limited to the waypoints on the route, directions, estimated driving time, etc., which need to be obtained through the preset navigation information. After obtaining the complete driving navigation information, a complete navigation route can be generated by combining the starting point, the end point and the preset navigation information.

[0092] Step S40: performing navigation playback according to the target route and the standard navigation data.

[0093] It should be noted that navigation playback refers to reproducing the vehicle's navigation process in a simulated environment to verify the performance and accuracy of the navigation system.

[0094] It is understandable that navigation playback according to the target route and the standard navigation data means starting the navigation system in a simulated vehicle environment, setting the starting point and end point of the target route, using a simulated TBOX to periodically send standard navigation data to the vehicle system, simulating the data reception process of the vehicle during actual driving, and inputting the standard navigation data into the navigation system at a predetermined time interval and sequence to simulate the vehicle's driving process on the target route. After playback, the results of the navigation playback can be analyzed to check for deviations or errors, and recorded for subsequent analysis; the navigation algorithm or data can be adjusted according to the analysis results to improve navigation accuracy, and the test process can be repeated until the performance of the navigation system meets the requirements. Dynamic testing of the navigation system in a simulated environment is achieved, which improves test efficiency and accuracy, can cover the required working conditions, and reduces dependence on real vehicle testing.

[0095] In a feasible implementation, step S40 may include steps S41 to S43:

[0096] Step S41, controlling the target vehicle computer to navigate according to the target route;

[0097] It can be understood that controlling the target vehicle computer to navigate according to the target route means that the navigation system of the target vehicle computer starts to provide navigation guidance according to the generated target route, that is, the navigation route including the starting point, the end point and the way points.

[0098] Step S42, during the navigation process, importing the standard navigation data according to a preset period to obtain navigation playback data;

[0099] It should be noted that the preset period is the time interval for importing data set according to actual test requirements, which is used to control the frequency of data import. After starting navigation, the simulated TBOX will periodically send standard navigation data. In this embodiment, the length of the preset period is not limited. Navigation playback data is navigation data imported through the import operation, which is used to reproduce the navigation process of the vehicle in a simulated environment.

[0100] Step S43: performing navigation playback according to the navigation playback data.

[0101] It is understood that performing navigation playback according to the navigation playback data means using the imported navigation playback data to simulate the actual navigation process of the vehicle along the target route. After playback, it is possible to check whether the navigation can provide accurate navigation guidance according to the playback data and perform real vehicle testing.

[0102] By building a standard road condition library for different road conditions and combining the advantages of local playback, the demand for vehicle environment and resources can be greatly reduced, the demand for vehicle drivers can be greatly reduced, and the cost of manufacturing and personnel generated to meet dynamic testing can be saved. For short-cycle projects, the original full-cycle test requirements for all road conditions can be covered by increasing local environmental resources. Adding the realized dynamic navigation playback to the vehicle automation sequence can further increase the exposure rate of vehicle problems and further improve product quality.

[0103] This embodiment provides a navigation playback method based on an extensible service-oriented middleware protocol. By simulating a remote communication terminal and utilizing an extensible service-oriented middleware protocol (Some / IP), the method solves the technical problems of high dependence on vehicle resources and driver resources, long test cycles, and difficulty in covering all road conditions in traditional real-vehicle dynamic testing, thereby achieving the beneficial effects of reducing test costs, improving test efficiency, and enhancing test coverage and flexibility. At the same time, the method can perform accurate and efficient dynamic testing of the navigation system in a controlled simulation environment.

[0104] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 The step S10 of the navigation playback method based on the extensible service-oriented middleware protocol includes steps S11 to S13:

[0105] Step S11, obtaining a preset driving scene;

[0106] It should be noted that preset driving scenarios refer to a series of specific driving environments or road conditions that are pre-defined for testing navigation systems. These scenarios are designed to simulate various road and traffic conditions that vehicles may encounter in the real world, including but not limited to elevated roads, airports, highways, underground garages, and commonly used scenarios.

[0107] It is understandable that the characteristics of the driving scenarios that need to be simulated are determined, such as urban roads, highways, rural roads, etc. Select a specific driving scenario from a predefined list and associate the preset driving scenario with the corresponding navigation data set to ensure that the correct data is used during testing.

[0108] Step S12, setting a standard operating route according to the preset driving scenario;

[0109] It is understandable that the setting process includes selecting or constructing a route that meets the characteristics of a preset driving scenario.

[0110] Step S13, obtaining standard navigation data according to the standard operating route, the preset data acquisition tool and the extensible service-oriented middleware protocol.

[0111] It should be noted that the preset data acquisition tool refers to a tool or system used to collect navigation data, such as a vehicle data recorder, professional software, sensors, etc.

[0112] In this embodiment, the preset data acquisition tool is Wireshark, which is used to capture Some / IP message data on the vehicle bus.

[0113] Some / IP is a communication protocol designed for service-oriented architecture in automobiles. In automotive projects that adopt SOA, various in-vehicle services (such as navigation, infotainment, vehicle control, etc.) communicate through the Some / IP protocol. By capturing Some / IP message data, all the data required for the navigation system in actual operation can be obtained, which is crucial for developing and testing navigation systems with high accuracy and reliability. Wireshark, as a powerful network protocol analysis tool, can capture, analyze and display Some / IP protocol data packets, making it an ideal choice for performing such tasks.

[0114] In a feasible implementation, step S13 may include steps S131 to S134:

[0115] Step S131, controlling the vehicle to travel according to the standard operating route;

[0116] It is understood that the actual vehicle is operated so that the vehicle travels along a predetermined standard operating route. If the vehicle is equipped with an automatic driving function, it can be automatically driven along the predetermined route.

[0117] Step S132, obtaining navigation data during the driving process of the vehicle;

[0118] It should be noted that navigation data includes all relevant data of the vehicle's navigation and recording during driving.

[0119] It is understandable that the navigation data here contains a lot of redundant data for the vehicle testing process and cannot be used directly for vehicle testing. It is necessary to extract message data that complies with the Some / IP protocol before it can be used for vehicle testing.

[0120] Step S133, extracting the navigation data according to the preset data acquisition tool and the extensible service-oriented middleware protocol to obtain initial navigation data;

[0121] It should be noted that the initial navigation data is the message data that complies with the Some / IP protocol, including all necessary information that the navigation data should contain, such as timestamp, longitude, latitude, speed, heading, etc.

[0122] It is understandable that the data acquisition tool is used to capture the message data in the navigation data that complies with the Some / IP protocol, and these message data contain navigation-related data.

[0123] Step S134, extracting valid data from the initial navigation data to obtain standard navigation data.

[0124] It is understandable that after obtaining the initial navigation data, it is necessary to analyze the validity of the initial navigation data and remove invalid data so that the data used by the vehicle in subsequent data analysis are all valid data.

[0125] In a feasible implementation, step S134 may include steps S1341 to S1344:

[0126] Step S1341, analyzing whether the parameters of the initial navigation data are complete according to a preset parameter list;

[0127] It should be noted that the preset parameter list is a set of predefined parameters, including all necessary information that the navigation data should contain. In this embodiment, the preset parameter list includes UTC time, valid flag, latitude, accuracy, height above sea level, height above the earth ellipsoid, position information fusion flag, positioning mode, motion heading (2-D), number of satellites used for current positioning, ground speed (2-D), estimated horizontal accuracy, vertical direction accuracy, positioning mode, maximum number of current search satellites, and satellite list information.

[0128] Step S1342, when the parameters are incomplete, updating the initial navigation data according to the incomplete data to obtain complete navigation data;

[0129] It should be noted that incomplete parameters refer to the initial navigation data lacking information of a certain parameter in the preset parameter list.

[0130] It is understandable that missing position data can be estimated through interpolation methods such as linear interpolation or polynomial interpolation; missing timestamps can be supplemented through event synchronization; when supplementing position information and timestamps, if there is a backup data source that provides the above missing information, the backup data can be integrated into the initial navigation data. After supplementing the missing data, complete navigation data can be obtained, which is information that satisfies all parameters in the preset parameter list.

[0131] Step S1343, analyzing the error of the complete navigation data, and updating the complete navigation data according to the error to obtain valid navigation data;

[0132] It is understood that analyzing errors means obtaining a benchmark data set, which is usually obtained through high-precision ground measurement equipment or reference stations with known precise locations. For each GNSS data point, calculate the difference between it and the benchmark data. Determine the difference between the longitude and latitude of the GNSS data and the benchmark data. Calculate statistics of these differences, such as mean, median, standard deviation, etc. Determine the difference between the vertical position of the GNSS data and the benchmark data. Also calculate statistics of these differences. Analyze the distribution of errors to see if there are systematic or random deviations.

[0133] In addition, it can be understood that updating the complete navigation data according to the error to obtain valid navigation data indicates possible sources of identification errors, such as multipath effects, ionospheric and tropospheric delays, satellite geometric distribution, and geometric dilution accuracy, etc. Applying an error correction model, such as a Kalman filter, to reduce the impact of the error. After error correction, valid navigation data is obtained.

[0134] Step S1344, obtaining standard navigation data according to the valid navigation data.

[0135] It is understandable that the corrected navigation data is organized into a standard data set, which can be used in a variety of test scenarios. This data set is the standard navigation data.

[0136] This embodiment provides a navigation playback method based on an extensible service-oriented middleware protocol. By using a preset data acquisition tool (such as Wireshark) to capture Some / IP message data on the vehicle bus, and combining a series of data processing steps, including parameter integrity check, data update, error analysis and correction, the problem of incomplete and inaccurate navigation data in the prior art is solved, and the beneficial effect of improving the accuracy and reliability of navigation data is achieved, thereby improving the overall performance of the navigation system and the accuracy of the test.

[0137] For example, to help understand the implementation process of the navigation playback method based on the extensible service-oriented middleware protocol obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 3 , Figure 3 A brief flowchart of a navigation playback method based on an extensible service-oriented middleware protocol is provided, specifically:

[0138] The real vehicle starts navigating along the preset fixed route until the navigation ends. During this process, the GNSS information of the real vehicle during navigation is extracted. Then, the TBOX (Telematics Box) is simulated to provide GNSS services to the vehicle computer; in the playback stage, to ensure the consistency of navigation attribute information, the same route is set after the line is fixed. Finally, the previously extracted GNSS information is injected for navigation playback until the navigation ends.

[0139] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the navigation playback method based on the extensible service-oriented middleware protocol of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0140] This application also provides a navigation playback device based on an extensible service-oriented middleware protocol, please refer to Figure 4 , the navigation playback device based on the extensible service-oriented middleware protocol includes:

[0141] A setting module 10, used to set a standard operating route and obtain standard navigation data according to the standard operating route;

[0142] A building module 20 is used to build a vehicle computer environment and obtain a target vehicle computer;

[0143] An import module 30 is used to simulate a remote communication terminal and import the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route;

[0144] The playback module 40 is used to perform navigation playback according to the target route and the standard navigation data.

[0145] The navigation playback device based on the extensible service-oriented middleware protocol provided by the present application adopts the navigation playback method based on the extensible service-oriented middleware protocol in the above-mentioned embodiment, which can solve the technical problem of the difficulty of vehicle navigation verification caused by the limitation of real vehicle dynamic test resources and test cycle in the research and development stage of the whole vehicle project. Compared with the prior art, the beneficial effects of the navigation playback device based on the extensible service-oriented middleware protocol provided by the present application are the same as the beneficial effects of the navigation playback method based on the extensible service-oriented middleware protocol provided by the above-mentioned embodiment, and the other technical features in the navigation playback device based on the extensible service-oriented middleware protocol are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0146] In one embodiment, the import module 30 is also used to simulate a remote communication terminal, and establish a connection between the remote communication terminal and the target vehicle computer according to an extensible service-oriented middleware protocol to obtain a target test connection; and import the standard navigation data into the target vehicle computer according to the target test connection to obtain a target route.

[0147] In one embodiment, the import module 30 is also used to import the standard navigation data into the target vehicle computer according to the target test connection; obtain the initial positioning information of the target vehicle computer and the starting point and end point of the standard navigation data; update the initial positioning information according to the starting point to obtain the starting point of the target route; obtain the target route according to the starting point of the target route, the end point and the preset navigation information.

[0148] In one embodiment, the playback module 40 is further used to control the target vehicle computer to navigate according to the target route; during the navigation process, the standard navigation data is imported according to a preset period to obtain navigation playback data; and navigation playback is performed according to the navigation playback data.

[0149] In one embodiment, the setting module 10 is further used to obtain a preset driving scenario; set a standard operating route according to the preset driving scenario; and obtain standard navigation data according to the standard operating route, a preset data acquisition tool, and an extensible service-oriented middleware protocol.

[0150] In one embodiment, the setting module 10 is also used to control the vehicle to travel according to the standard operating route; obtain navigation data during the vehicle's driving process; extract the navigation data according to the preset data acquisition tool and the extensible service-oriented middleware protocol to obtain initial navigation data; extract valid data from the initial navigation data to obtain standard navigation data.

[0151] In one embodiment, the setting module 10 is further used to analyze whether the parameters of the initial navigation data are complete according to a preset parameter list; when the parameters are incomplete, update the initial navigation data according to the incomplete data to obtain complete navigation data; analyze the errors of the complete navigation data, and update the complete navigation data according to the errors to obtain valid navigation data; and obtain standard navigation data according to the valid navigation data.

[0152] The present application provides a navigation playback device based on an extensible service-oriented middleware protocol, and the navigation playback device based on the extensible service-oriented middleware protocol includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the navigation playback method based on the extensible service-oriented middleware protocol in the above-mentioned embodiment one.

[0153] Reference below Figure 5 , which shows a schematic diagram of the structure of a navigation playback device based on an extensible service-oriented middleware protocol suitable for implementing an embodiment of the present application. The navigation playback device based on an extensible service-oriented middleware protocol in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The navigation playback device based on the extensible service-oriented middleware protocol shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0154] like Figure 5As shown, the navigation playback device based on the extensible service-oriented middleware protocol may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the navigation playback device based on the extensible service-oriented middleware protocol are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the navigation playback device based on the extensible service-oriented middleware protocol to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a navigation playback device based on the extensible service-oriented middleware protocol with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0155] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0156] The navigation playback device based on the scalable service-oriented middleware protocol provided by the present application adopts the navigation playback method based on the scalable service-oriented middleware protocol in the above-mentioned embodiment, which can solve the technical problem of the difficulty of vehicle navigation verification caused by the limitation of real vehicle dynamic test resources and test cycle in the research and development stage of the whole vehicle project. Compared with the prior art, the beneficial effects of the navigation playback device based on the scalable service-oriented middleware protocol provided by the present application are the same as the beneficial effects of the navigation playback method based on the scalable service-oriented middleware protocol provided by the above-mentioned embodiment, and the other technical features in the navigation playback device based on the scalable service-oriented middleware protocol are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0157] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0158] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0159] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the navigation playback method based on the extensible service-oriented middleware protocol in the above-mentioned embodiment.

[0160] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0161] The computer-readable storage medium may be included in the navigation playback device based on the extensible service-oriented middleware protocol; or may exist independently without being assembled into the navigation playback device based on the extensible service-oriented middleware protocol.

[0162] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the navigation playback device based on the extensible service-oriented middleware protocol, the navigation playback device based on the extensible service-oriented middleware protocol: sets a standard operating route, and obtains standard navigation data according to the standard operating route;

[0163] Build the vehicle environment and obtain the target vehicle;

[0164] Simulating a remote communication terminal, and importing the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route;

[0165] Navigation playback is performed according to the target route and the standard navigation data.

[0166] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0167] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0168] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0169] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned navigation playback method based on the extensible service-oriented middleware protocol, and can solve the technical problem of the difficulty of vehicle navigation verification due to the limitation of real vehicle dynamic test resources and test cycle during the vehicle project development stage. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the navigation playback method based on the extensible service-oriented middleware protocol provided by the above-mentioned embodiment, and will not be repeated here.

[0170] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned navigation playback method based on the extensible service-oriented middleware protocol.

[0171] The computer program product provided by this application can solve the technical problem of difficult vehicle navigation verification due to the limitation of real vehicle dynamic test resources and test cycle during the vehicle project development stage. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the navigation playback method based on the scalable service-oriented middleware protocol provided by the above embodiment, which will not be repeated here.

[0172] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A navigation playback method based on an extensible service-oriented middleware protocol, characterized in that: The method comprises: Setting a standard operating route, and obtaining standard navigation data according to the standard operating route; Build the vehicle computer environment and obtain the target vehicle computer; Simulating a remote communication terminal, and importing the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route; Navigation playback is performed according to the target route and the standard navigation data.

2. The method according to claim 1, characterized in that The steps of simulating the remote communication terminal and importing the standard navigation data into the target vehicle computer according to the scalable service-oriented middleware protocol and the remote communication terminal to obtain the target route include: Simulating a remote communication terminal, and establishing a connection between the remote communication terminal and the target vehicle computer according to an extensible service-oriented middleware protocol to obtain a target test connection; The standard navigation data is imported into the target vehicle computer according to the target test connection to obtain the target route.

3. The method according to claim 2, characterized in that The step of importing the standard navigation data into the target vehicle computer according to the target test connection to obtain the target route includes: Importing the standard navigation data into the target vehicle computer according to the target test connection; Obtaining the initial positioning information of the target vehicle computer and the starting point and end point of the standard navigation data; Update the initial positioning information according to the starting point to obtain the starting point of the target route; The target route is obtained according to the starting point of the target route, the end point and preset navigation information.

4. The method according to claim 1, characterized in that The step of performing navigation playback according to the target route and the standard navigation data comprises: Controlling the target vehicle computer to navigate according to the target route; During navigation, the standard navigation data is imported according to a preset period to obtain navigation playback data; Navigation playback is performed according to the navigation playback data.

5. The method according to claim 1, characterized in that The step of setting a standard operating route and obtaining standard navigation data according to the standard operating route includes: Get preset driving scenarios; Setting a standard operating route according to the preset driving scenario; Standard navigation data is obtained according to the standard operating route, the preset data acquisition tool and the extensible service-oriented middleware protocol.

6. The method according to claim 5, characterized in that The step of obtaining standard navigation data according to the standard operating route, the preset data acquisition tool and the extensible service-oriented middleware protocol includes: Controlling the vehicle to travel according to the standard operating route; Acquiring navigation data during the driving of the vehicle; Extracting the navigation data according to the preset data acquisition tool and the extensible service-oriented middleware protocol to obtain initial navigation data; Valid data in the initial navigation data is extracted to obtain standard navigation data.

7. The method according to claim 6, characterized in that The step of extracting valid data from the initial navigation data to obtain standard navigation data comprises: Analyzing whether the parameters of the initial navigation data are complete according to a preset parameter list; When the parameters are incomplete, updating the initial navigation data according to the incomplete data to obtain complete navigation data; Analyzing errors of the complete navigation data, and updating the complete navigation data according to the errors to obtain valid navigation data; Standard navigation data is obtained according to the effective navigation data.

8. A navigation playback device based on an extensible service-oriented middleware protocol, characterized in that: The device comprises: A setting module, used for setting a standard working condition route and obtaining standard navigation data according to the standard working condition route; Building module, used to build the vehicle environment and obtain the target vehicle; An import module, used for simulating a remote communication terminal, and importing the standard navigation data into a target vehicle computer according to an extensible service-oriented middleware protocol and the remote communication terminal to obtain a target route; A playback module is used to perform navigation playback according to the target route and the standard navigation data.

9. A navigation playback device based on an extensible service-oriented middleware protocol, characterized in that: The device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the navigation playback method based on the extensible service-oriented middleware protocol as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the navigation playback method based on the extensible service-oriented middleware protocol as described in any one of claims 1 to 7 are implemented.

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