Controller test method and related system
By adding new peripheral devices in the ADAS ECU hardware in the ring test system, generating and transmitting simulation sensor data, the problem of low sensor simulation efficiency and high cost in existing technologies, achieve a more efficient test process and reduce costs.
Patent Information
- Application Number
- CN202411449545.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-16
- Publication Date
- 2025-01-21
AI Technical Summary
In the existing ADAS ECU hardware in the ring test system, the sensor simulation method is inefficient and costly, resulting in lower overall testing efficiency and higher cost.
By adding peripheral devices to the system, the simulation software is used to generate corresponding simulation data for the fusion component, front-view camera component and positioning component respectively, and these simulation data are mapped, assigned and serialized through the target component, and finally sent to The regulation module in the assisted driving control unit is tested.
Generating and transmitting the required sensor data through peripheral devices avoids the cumbersome custom development of hardware and software for sensors, improves test efficiency and reduces costs.
Smart Images
Figure CN119336000A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of autonomous driving hardware in-the-loop testing technology, and in particular to a controller testing method and related systems. Background Art
[0002] Hardware-in-the-loop testing (HIL) uses a real-time processor to run a simulation model to simulate the operating state of the controlled object, connects to the electronic control unit (ECU) under test through the corresponding interface, and conducts a comprehensive and systematic test on the ECU under test. Therefore, hardware-in-the-loop testing is crucial for the electronic control unit (ADAS ECU) of the advanced driver assistance system of autonomous driving.
[0003] When conducting ADAS ECU hardware-in-the-loop testing, the simulation method of the ADAS ECU hardware-in-the-loop testing system sensor is mainly to directly simulate the physical signals of various sensor front ends or the original data signals required by the ADAS ECU perception module through a customized simulation model. The ADAS ECU internal perception module then processes the received simulated sensor data and provides it to the subsequent regulation and control module. For example, to simulate a camera sensor, if the video darkbox method is used, the darkbox and the real camera sensor hardware need to be customized, and the camera needs to be labeled. If the video injection method is used, a customized video injection box is required, and the camera also needs to be labeled.
[0004] However, this approach is affected by the long time and high cost of hardware and software customization development, which makes the efficiency of the entire test relatively low and the cost high. Summary of the invention
[0005] Based on the above-mentioned deficiencies of the prior art, the present application provides a controller testing method and a related system to solve the problems of low efficiency and high cost of the prior art.
[0006] In order to achieve the above objectives, this application provides the following technical solutions:
[0007] A first aspect of the present application provides a controller testing method, comprising:
[0008] For each target component in the peripheral device, the simulation data corresponding to the target component is generated by the simulation software; wherein the target component includes a fusion component, a front-view camera component and a positioning component; the simulation data corresponding to the fusion component and the front-view camera component are generated by the scene simulation software in the peripheral device; the simulation data corresponding to the positioning component is generated by the dynamics simulation software in the dynamics simulation module; the simulation data corresponding to the fusion component includes scene target information, drivable area information and heartbeat diagnosis signal; the simulation data corresponding to the front-view camera component includes lane line set information, traffic sign set information and heartbeat diagnosis signal; the simulation data corresponding to the positioning component includes latitude and longitude information and heartbeat diagnosis signal;
[0009] Sending simulation data corresponding to the target component to the target component;
[0010] Mapping and assigning the corresponding simulation data to the Proto database signal through the target component;
[0011] The target component performs serialization processing on the assigned Proto database signal to obtain serialization data corresponding to the target component;
[0012] The target component sends its corresponding serialized data to the regulation and control module in the auxiliary driving control unit, so as to use the serialized data of the target component for testing.
[0013] Optionally, in the above controller testing method, before generating simulation data corresponding to each target component in the peripheral device by simulation software, the method further includes:
[0014] Shield the fusion module, the front camera sensor module and the positioning module in the assisted driving control unit, and cut off the data transmission between the fusion module, the front camera sensor module and the positioning module and the regulation and control module in the assisted driving control unit.
[0015] Optionally, in the above controller testing method, the target component is the fusion component or the front-view camera component, and before mapping and assigning the corresponding simulation data to the Proto database signal through the target component, it also includes:
[0016] Parsing the received corresponding simulation data through the data parser in the target component;
[0017] The simulation data corresponding to the parsed target component is converted into numerical units, converted into coordinates and assigned with logical additions.
[0018] Optionally, in the above controller testing method, the target component is the positioning component, and the generating simulation data corresponding to the target component by simulation software includes:
[0019] Generate position and posture information by means of the dynamics simulation software;
[0020] Processing the position and posture information by using a scripting language through test management software;
[0021] The processed position and posture information is assigned to the Vcdl signal to obtain simulation data corresponding to the positioning component.
[0022] Optionally, in the above controller testing method, sending the corresponding serialized data of the target component to the regulation and control module in the auxiliary driving control unit includes:
[0023] Packing the corresponding serialized data into a data packet in a data distribution service format through the target component;
[0024] The data packet is sent to the regulation and control module in the auxiliary driving control unit through the data distribution service.
[0025] A second aspect of the present application provides a controller testing system, comprising:
[0026] A data generation unit, for generating simulation data corresponding to each target component in the peripheral device through simulation software; wherein the target components include a fusion component, a front-view camera component and a positioning component; the simulation data corresponding to the fusion component and the front-view camera component are generated by the scene simulation software in the peripheral device; the simulation data corresponding to the positioning component is generated by the dynamics simulation software in the dynamics simulation module; the simulation data corresponding to the fusion component includes scene target information, drivable area information and heartbeat diagnosis signal; the simulation data corresponding to the front-view camera component includes lane line set information, traffic sign set information and heartbeat diagnosis signal; the simulation data corresponding to the positioning component includes latitude and longitude information and heartbeat diagnosis signal;
[0027] A first sending unit, configured to send simulation data corresponding to the target component to the target component;
[0028] A first assignment unit, used for mapping and assigning the corresponding simulation data to the Proto database signal through the target component;
[0029] A serialization processing unit, configured to perform serialization processing on the assigned Proto database signal by the target component to obtain serialization data corresponding to the target component;
[0030] The second sending unit is used to send the serialized data corresponding to the target component to the regulation and control module in the auxiliary driving control unit through the target component, so as to use the serialized data of the target component for testing.
[0031] Optionally, in the above controller testing system, it also includes:
[0032] The shielding unit is used to shield the fusion module, the front camera sensor module and the positioning module in the assisted driving control unit, and to cut off the data transmission between the fusion module, the front camera sensor module and the positioning module and the regulation and control module in the assisted driving control unit.
[0033] Optionally, in the above controller testing system, it also includes:
[0034] A parsing unit, used for parsing the received corresponding simulation data through a data parser in the target component;
[0035] The preprocessing unit is used to perform numerical unit conversion, coordinate conversion and value assignment logic addition on the simulation data corresponding to the parsed target component.
[0036] Optionally, in the above-mentioned controller test system, when the target component is the positioning component, when the data generation unit executes the step of generating simulation data corresponding to the target component by using simulation software, it is used to:
[0037] Generate position and posture information by means of the dynamics simulation software;
[0038] Processing the position and posture information by using a scripting language through test management software;
[0039] The processed position and posture information is assigned to the Vcdl signal to obtain simulation data corresponding to the positioning component.
[0040] Optionally, in the above controller test system, the second sending unit includes:
[0041] A packaging unit, used for packaging the corresponding serialized data into a data packet in a data distribution service format through the target component;
[0042] The sending subunit is used to send the data packet to the regulation and control module in the auxiliary driving control unit through the data distribution service.
[0043] The present application provides a controller testing method, in which a peripheral device is added to the system to simulate relevant data. Specifically, during the test, for each target component in the peripheral device, the simulation data corresponding to the target component is generated by the simulation software. Among them, the target component includes a fusion component, a front-view camera component and a positioning component. The simulation data corresponding to the fusion component and the front-view camera component are generated by the scene simulation software in the peripheral device. The simulation data corresponding to the positioning component is generated by the dynamics simulation software in the dynamics simulation module. The simulation data corresponding to the fusion component includes information on the scene target, information on the drivable area and a heartbeat diagnostic signal. The simulation data corresponding to the front-view camera component includes lane line set information, traffic sign set information and a heartbeat diagnostic signal. The simulation data corresponding to the positioning component includes longitude and latitude information and a heartbeat diagnostic signal. Then the simulation data corresponding to the target component is sent to the target component, and the corresponding simulation data is mapped and assigned to the Proto database signal by the target component, and the Proto database signal after the assignment is serialized by the target component to obtain the serialized data corresponding to the target component. Finally, the corresponding serialized data is sent to the regulation and control module in the assisted driving control unit through the target component, so as to use the serialized data of the target component for testing. Therefore, the simulation of the sensor data required by the assisted driving control unit is realized through the various target components in the peripheral devices and the scene simulation software, and the data is directly transmitted to the assisted driving control unit through the branch. It does not need to pass through the perception module inside the assisted driving control unit, nor does it need to simulate the front-end physical signals of various sensors or the original data signals of sensors, thereby avoiding the cumbersome sensors being affected by the customized development of hardware and software, effectively improving efficiency and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0044] 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, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.
[0045] Figure 1 A schematic diagram of the architecture of a hardware-in-the-loop test system provided in an embodiment of the present application;
[0046] Figure 2 A flowchart of a controller testing method provided in an embodiment of the present application;
[0047] Figure 3 A schematic diagram of the operation of a fusion component provided in an embodiment of the present application;
[0048] Figure 4A schematic diagram of the operation of a forward-looking camera assembly provided in an embodiment of the present application;
[0049] Figure 5 A flowchart of a method for generating simulation data corresponding to a target component through simulation software provided in an embodiment of the present application;
[0050] Figure 6 A schematic diagram of the operation of a positioning component provided in an embodiment of the present application;
[0051] Figure 7 A schematic diagram of the architecture of a controller testing system provided in an embodiment of the present application. DETAILED DESCRIPTION
[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0053] In this application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.
[0054] The embodiment of the present application provides a controller testing method to solve the problems of low implementation efficiency and high cost in the prior art.
[0055] Optionally, in order to implement a controller testing method provided in an embodiment of the present application, an embodiment of the present application provides a hardware-in-the-loop testing system, such as Figure 1 As shown, including:
[0056] Automated testing modules, peripheral equipment, dynamics simulation modules, test management equipment, hardware-in-the-loop testing platform, and assisted driving control unit.
[0057] Among them, automated testing software is deployed on the automated testing module, which is mainly used for script editing and test execution.
[0058] The peripheral device is an additional peripheral device added in this solution. Optionally, it can be an Ubuntu device, that is, a device deployed with the Ubuntu system, such as a computer deployed with the Ubuntu system. Among them, three components are deployed in the peripheral device, and the simulated components are the fusion component, the front camera component and the positioning component. In addition, the scene simulation software VTD is also deployed. The software simulates the scene through the road model, sensor model, traffic model, etc., and provides the obtained data to the fusion component and the front camera component. Among them, the perfect sensor perception data in the scene simulation software replaces the original camera Camera, Lidar Lidar, millimeter wave radar Radar, and ultrasonic radar Uss perception data. The fusion component, the front camera component and the positioning component transmit data to the hardware-in-the-loop test system through links C1 and C2, and the data is transmitted to the auxiliary driving control unit for testing during the test, thereby realizing the information required for the production of the regulation and control module through the peripheral device, and no longer needing to simulate by developing each sensor.
[0059] The dynamics simulation module is equipped with dynamics simulation software for dynamics simulation to obtain dynamics-related parameter information, such as steering, braking, and power, etc. Optionally, the dynamics simulation software may be DANY4.
[0060] The test management device is deployed with test management software, which is mainly used to process the data generated by the dynamics simulation software and provide it to the positioning component of the peripheral device in this solution. Optionally, the test management software can specifically use Canoe. Optionally, the test management device can use a device installed with a Windows system, such as a computer installed with a Windows system.
[0061] The hardware-in-the-loop test platform is mainly composed of a real-time processor, a communication board, an IO board, and a power supply. It is mainly used for communication between the host computer and the ADAS ECU, and for powering the ADAS ECU to achieve hardware-in-the-loop testing of the assisted driving control unit.
[0062] The assisted driving control unit may specifically refer to the electronic control unit of the advanced driver assistance system (ADASECU). It should be noted that in the prior art, the data of sensors such as cameras, lidars, millimeter-wave radars, ultrasonic radars, etc. are simulated in the periphery, and then the data is given to the corresponding perception modules inside the controller, and the processing results of the perception modules are then provided to the regulation and control module for testing. Since this development method is time-consuming and costly. Therefore, in the implementation of this application, the target data required by the regulation and control module is directly generated by the set peripheral equipment, so these original perception modules can be directly shielded.
[0063] Based on the hardware-in-the-loop test system provided above, the embodiment of the present application provides a controller testing method, such as Figure 2 As shown, the following steps are included:
[0064] S201 . For each target component in the peripheral device, generate simulation data corresponding to the target component through simulation software.
[0065] Among them, the target components include a fusion component, a front-view camera component and a positioning component. The simulation data corresponding to the fusion component and the front-view camera component are generated by the scene simulation software in the peripheral device. The simulation data corresponding to the positioning component is generated by the dynamic simulation software in the dynamic simulation module. The simulation data corresponding to the fusion component includes scene target information, drivable area information and heartbeat diagnostic signals. The simulation data corresponding to the front-view camera component includes lane line set information, traffic sign set information and heartbeat diagnostic signals. The simulation data corresponding to the positioning component includes longitude and latitude information and heartbeat diagnostic signals. Of course, the simulation data corresponding to each target component can also include other data simulated by the target component according to requirements.
[0066] Specifically, for the fusion component, it mainly simulates the scene target information, drivable area information and heartbeat diagnosis information required by the downstream regulation and control module. The scene target information may include but is not limited to the target number, length, width, height, speed, acceleration, heading angle and timestamp, etc. Therefore, the simulation data corresponding to the produced fusion component includes the scene target information, drivable area information and heartbeat diagnosis signal.
[0067] Specifically, Figure 3 As shown, the peripheral device runs the scene simulation software VTD and performs scene simulation in conjunction with the data from the perfect sensor to generate simulation data corresponding to the fusion component and send it to the fusion component in the peripheral device.
[0068] For the front-view camera component, it mainly simulates the information collected by the front-view camera required by the downstream regulation and control module, such as traffic sign set information, lane line set information, sensing node working status information, front-view camera heartbeat diagnosis signal, and camera calibration status. For the simulation data of the fused component, the corresponding signal can be assigned 0, and no simulation is required.
[0069] Specific as Figure 4 As shown in the figure, the peripheral device also configures the perfect sensor in the scene simulation software VTD, outputs basic information such as lane lines, targets, and traffic sign sets, realizes scene operation, and sends the generated relevant data to the front camera component in the peripheral device.
[0070] For the positioning component, it mainly includes the simulation of the Ins inertial navigation module and the Kalman_Filter module. Among them, according to the output of the Ins module and the data actually required by the downstream module, Ins simulates the vehicle posture and positioning information wgs84, the positioning information in the DR coordinate system, and the heartbeat diagnosis information of the Ins module. According to the output of the Kalman_Filter module and the data required by the downstream module, Kalman_Filter simulates the filtered positioning information and the heartbeat diagnosis information of the Kalman_Filter module.
[0071] Optionally, in another embodiment of the present application, when the target component is a positioning component, an implementation method of generating simulation data corresponding to the target component by simulation software is as follows: Figure 5 As shown, including:
[0072] S501, generating position and posture information through dynamics simulation software.
[0073] Alternatively, if Figure 6 As shown in the figure, DYNA4, as a dynamics simulation software, provides real-time position and posture information as the data source of the positioning sensor. Specifically, it can generate geodetic coordinates, velocity, acceleration, position and other position and posture information through dynamics simulation. In addition, the dynamics simulation module, that is, the dynamics simulation software DYNA4, can be integrated into the test management equipment.
[0074] S502: Process the position and posture information using scripting language through test management software.
[0075] like Figure 6 As shown, the position and posture information is converted and processed by the test management software. Specifically, CAPL language nodes can be added to realize data conversion processing. The data conversion processing may include the following contents:
[0076] Use CAPL language to realize logical processing such as global coordinate (UTK) conversion to longitude and latitude (wgs84), speed and acceleration direction conversion, coordinate calculation, quaternion calculation, time acquisition, etc., and assign the result to Vcdl signal.
[0077] S503: Assign the processed position and posture information to the Vcdl signal to obtain simulation data corresponding to the positioning component.
[0078] Optionally, a Vcdl file may be added as a data interface for interacting with the SilAdapter, so the processed position and posture information needs to be assigned to a Vcdl signal so that the data can be transmitted to the SilAdapter in the positioning component.
[0079] Optionally, since the output of the perception module is simulated by the peripheral device in the embodiment of the present application, the corresponding perception module in the auxiliary driving control unit does not need to perform corresponding work. Therefore, in another embodiment of the application, in executing step S201, before executing step S201, the following may be further executed:
[0080] Shield the fusion module, front camera sensor module and positioning module in the assisted driving control unit, and cut off the data transmission between the fusion module, front camera sensor module and positioning module and the regulation and control module in the assisted driving control unit.
[0081] S202: Send simulation data corresponding to the target component to the target component.
[0082] Optionally, if the target component is a fusion component or a front-view camera component, then Figure 3 and Figure 4 As shown, specifically, the scene simulation software in the peripheral device can transmit the corresponding simulation data to the fusion component or the front-view camera component in the peripheral device through UDP.
[0083] Optionally, in another embodiment of the present application, when the target component is a fusion component or a front-view camera component, the generated simulation data is usually a runtime data bus (RDB), so before executing step S203, the following may be further executed:
[0084] The received corresponding simulation data is parsed by the data parser in the target component, and numerical unit conversion, coordinate conversion and value assignment logic addition are performed on the simulation data corresponding to the parsed target component.
[0085] Specifically, Figure 3 and Figure 4 As shown in the figure, after the generated RDB data is sent to the fusion component and the front camera component, it is parsed by the data parser in the communication component. For the fusion component, the target information is parsed, while for the front ten front camera components, the information such as signs, lane lines and ground markings is parsed. Then, the corresponding agent is used to perform numerical unit conversion, coordinate conversion and assignment logic addition, so as to obtain the data required for the subsequent data format to be sent, so as to facilitate the subsequent assignment and sending of data, for example, to obtain the information needed for the Proto message.
[0086] Optionally, when the target component is a positioning component, such as Figure 6As shown in the figure, SilAdapter can be integrated in the positioning component to realize the Vcdl simulation data acquisition function on the CANoe side. Therefore, by connecting SilAdapter, the data in Vcdl can be obtained, and the simulation data corresponding to the positioning component can be obtained.
[0087] Similarly, after obtaining the simulation data corresponding to the positioning component, the unit conversion of the simulation data can also be performed through the agent, so as to obtain the data required for step S203 and realize signal assignment.
[0088] S203, mapping and assigning the corresponding simulation data to the Proto database signal through the target component.
[0089] It should be noted that in order to allow the simulation data corresponding to the target component to be sent to the auxiliary driving control unit, the simulation data needs to be processed into serialized data. To process it into serialized data, the simulation data needs to be mapped into a structure that can be serialized. Therefore, in the embodiment of the present application, it is necessary to map and assign the corresponding simulation data to the Proto database signal through the target component. Optionally, the mapping assignment can be implemented through the agent in the target component.
[0090] Optionally, in another embodiment of the present application, the Protobuf format is adopted, so specifically the acquired simulation data of the target component may be mapped to the Proto signal for assignment processing.
[0091] S204: The target component performs serialization processing on the assigned Proto database signal to obtain serialization data corresponding to the target component.
[0092] S205: Send the corresponding serialized data of the target component to the regulation and control module in the auxiliary driving control unit through the target component, so as to perform testing using the serialized data of the target component.
[0093] Specifically, the target component sends its corresponding serialized data to the regulation and control module in the auxiliary driving control unit through the hardware-in-the-loop test platform, so as to use the serialized data of the target component for testing.
[0094] Optionally, in another embodiment of the present application, a specific implementation of step S205 includes:
[0095] The corresponding serialized data is packaged into a data packet in the data distribution service format through the target component, and the data packet is sent to the regulation and control module in the assisted driving control unit through the data distribution service DDS.
[0096] Optionally, the target component may package its corresponding serialized data into a DDS Interface payload segment, and then send the relevant Interface to the regulation and control module in the assisted driving control unit through DDS.
[0097] The embodiment of the present application provides a controller testing method, in which a peripheral device is added to the system to simulate relevant data. Specifically, during the test, for each target component in the peripheral device, the simulation data corresponding to the target component is generated by the simulation software. Among them, the target component includes a fusion component, a front-view camera component and a positioning component. The simulation data corresponding to the fusion component and the front-view camera component are generated by the scene simulation software in the peripheral device. The positioning component is generated by the dynamics simulation software in the dynamics simulation module. The simulation data corresponding to the fusion component includes information on the scene target, information on the drivable area and a heartbeat diagnostic signal. The simulation data corresponding to the front-view camera component includes lane line set information, traffic sign set information and a heartbeat diagnostic signal. The simulation data corresponding to the positioning component includes longitude and latitude information and a heartbeat diagnostic signal. Then the simulation data corresponding to the target component is sent to the target component, and the corresponding simulation data is mapped and assigned to the Proto database signal by the target component, and the Proto database signal after the assignment is serialized by the target component to obtain the serialized data corresponding to the target component. Finally, the corresponding serialized data is sent to the regulation and control module in the assisted driving control unit through the target component, so as to use the serialized data of the target component for testing. Therefore, the simulation of the sensor data required by the assisted driving control unit is realized through the various target components in the peripheral devices and the scene simulation software, and the data is directly transmitted to the assisted driving control unit through the branch. It does not need to pass through the perception module inside the assisted driving control unit, nor does it need to simulate the front-end physical signals of various sensors or the original data signals of sensors, thereby avoiding the cumbersome sensors being affected by the customized development of hardware and software, effectively improving efficiency and reducing costs.
[0098] Another embodiment of the present application provides a controller testing system, such as Figure 7 As shown, including:
[0099] The data generating unit 701 is used to generate simulation data corresponding to each target component in the peripheral device through simulation software.
[0100] Among them, the target component includes a fusion component, a front camera component and a positioning component. The simulation data corresponding to the fusion component and the front camera component are generated by the scene simulation software in the peripheral device. The simulation data corresponding to the positioning component is generated by the dynamics simulation software in the dynamics simulation module. The simulation data corresponding to the fusion component includes the information of the scene target, the drivable area information and the heartbeat diagnosis signal. The simulation data corresponding to the front camera component includes the lane line set information, the traffic sign set information and the heartbeat diagnosis signal. The simulation data corresponding to the positioning component includes the longitude and latitude information and the heartbeat diagnosis signal.
[0101] The first sending unit 702 is used to send the simulation data corresponding to the target component to the target component.
[0102] The first assignment unit 703 is used to map and assign the corresponding simulation data to the Proto database signal through the target component.
[0103] The serialization processing unit 704 is used for the target component to perform serialization processing on the assigned Proto database signal to obtain serialization data corresponding to the target component.
[0104] The second sending unit 705 is used to send the corresponding serialized data of the target component to the regulation and control module in the auxiliary driving control unit through the target component, so as to use the serialized data of the target component for testing.
[0105] Optionally, in another embodiment of the present application, the controller testing system further includes:
[0106] The shielding unit is used to shield the fusion module, the front camera sensor module and the positioning module in the assisted driving control unit, and to cut off the data transmission between the fusion module, the front camera sensor module and the positioning module and the regulation and control module in the assisted driving control unit.
[0107] Optionally, in another embodiment of the present application, the controller testing system further includes:
[0108] The parsing unit is used to parse the received corresponding simulation data through the data parser in the target component.
[0109] The preprocessing unit is used to perform numerical unit conversion, coordinate conversion and value assignment logic addition on the simulation data corresponding to the parsed target component.
[0110] Optionally, in a controller test system provided in another embodiment of the present application, when the target component is a positioning component, when the data generation unit generates simulation data corresponding to the target component through simulation software, it is used to:
[0111] The information generating unit is used to generate position and posture information through dynamics simulation software.
[0112] The information processing unit is used to process the position and posture information using a scripting language through the test management software.
[0113] The second assignment unit is used to assign the processed position and posture information to the Vcdl signal to obtain simulation data corresponding to the positioning component.
[0114] Optionally, in a controller testing system provided in another embodiment of the present application, the second sending unit includes:
[0115] The packaging unit is used to package the corresponding serialized data into a data packet in the data distribution service format through the target component.
[0116] The sending subunit is used to send the data packet to the regulation and control module in the auxiliary driving control unit through the data distribution service.
[0117] Optionally, the system provided in the above embodiment of the present application may be Figure 1 The system shown in FIG. 1 and the various units in the above embodiment may specifically be as follows: Figure 1 The constituent units of each model in the system shown.
[0118] It should be noted that the specific working process of each unit provided in the above embodiment can refer to the specific implementation process of the corresponding steps in the above method embodiment, which will not be repeated here.
[0119] Professionals may further 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 the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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 this application.
[0120] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A controller testing method, characterized in that: include: For each target component in the peripheral device, the simulation data corresponding to the target component is generated by the simulation software; wherein the target component includes a fusion component, a front-view camera component and a positioning component; the simulation data corresponding to the fusion component and the front-view camera component are generated by the scene simulation software in the peripheral device; the simulation data corresponding to the positioning component is generated by the dynamics simulation software in the dynamics simulation module; the simulation data corresponding to the fusion component includes scene target information, drivable area information and heartbeat diagnosis signal; the simulation data corresponding to the front-view camera component includes lane line set information, traffic sign set information and heartbeat diagnosis signal; the simulation data corresponding to the positioning component includes latitude and longitude information and heartbeat diagnosis signal; Sending simulation data corresponding to the target component to the target component; Mapping and assigning the corresponding simulation data to the Proto database signal through the target component; The target component performs serialization processing on the assigned Proto database signal to obtain serialization data corresponding to the target component; The target component sends its corresponding serialized data to the regulation and control module in the auxiliary driving control unit, so as to use the serialized data of the target component for testing.
2. The method according to claim 1, characterized in that Before generating simulation data corresponding to each target component in the peripheral device by using simulation software, the method further includes: Shield the fusion module, the front camera sensor module and the positioning module in the assisted driving control unit, and cut off the data transmission between the fusion module, the front camera sensor module and the positioning module and the regulation and control module in the assisted driving control unit.
3. The method according to claim 1, characterized in that The target component is the fusion component or the front-view camera component. Before the corresponding simulation data is mapped and assigned to the Proto database signal by the target component, the method further includes: Parsing the received corresponding simulation data through the data parser in the target component; The simulation data corresponding to the parsed target component is converted into numerical units, converted into coordinates and assigned with logical additions.
4. The method according to claim 1, characterized in that: The target component is the positioning component, and the simulation data corresponding to the target component is generated by simulation software, including: Generate position and posture information by means of the dynamics simulation software; Processing the position and posture information by using a scripting language through test management software; The processed position and posture information is assigned to the Vcdl signal to obtain simulation data corresponding to the positioning component.
5. The method according to claim 1, characterized in that The sending of the corresponding serialized data to the regulation and control module in the auxiliary driving control unit through the target component includes: Packing the corresponding serialized data into a data packet in a data distribution service format through the target component; The data packet is sent to the regulation and control module in the auxiliary driving control unit through the data distribution service.
6. A controller testing system, characterized in that: include: A data generation unit, for generating simulation data corresponding to each target component in the peripheral device through simulation software; wherein the target components include a fusion component, a front-view camera component and a positioning component; the simulation data corresponding to the fusion component and the front-view camera component are generated by the scene simulation software in the peripheral device; the simulation data corresponding to the positioning component is generated by the dynamics simulation software in the dynamics simulation module; the simulation data corresponding to the fusion component includes scene target information, drivable area information and heartbeat diagnosis signal; the simulation data corresponding to the front-view camera component includes lane line set information, traffic sign set information and heartbeat diagnosis signal; the simulation data corresponding to the positioning component includes latitude and longitude information and heartbeat diagnosis signal; A first sending unit, configured to send simulation data corresponding to the target component to the target component; A first assignment unit, used for mapping and assigning the corresponding simulation data to the Proto database signal through the target component; A serialization processing unit, configured to perform serialization processing on the assigned Proto database signal by the target component to obtain serialization data corresponding to the target component; The second sending unit is used to send the serialized data corresponding to the target component to the regulation and control module in the auxiliary driving control unit through the target component, so as to use the serialized data of the target component for testing.
7. The system according to claim 6, characterized in that Also includes: The shielding unit is used to shield the fusion module, the front camera sensor module and the positioning module in the assisted driving control unit, and to cut off the data transmission between the fusion module, the front camera sensor module and the positioning module and the regulation and control module in the assisted driving control unit.
8. The system according to claim 6, characterized in that Also includes: A parsing unit, used for parsing the received corresponding simulation data through a data parser in the target component; The preprocessing unit is used to perform numerical unit conversion, coordinate conversion and value assignment logic addition on the simulation data corresponding to the parsed target component.
9. The system according to claim 6, characterized in that When the target component is the positioning component, the data generating unit generates simulation data corresponding to the target component by using simulation software, for: An information generating unit, used for generating position and posture information through the dynamics simulation software; An information processing unit, used to process the position and posture information using a scripting language through test management software; The second assignment unit is used to assign the processed position posture information to the Vcdl signal to obtain simulation data corresponding to the positioning component.
10. The system according to claim 6, characterized in that The second sending unit includes: A packaging unit, used for packaging the corresponding serialized data into a data packet in a data distribution service format through the target component; The sending subunit is used to send the data packet to the regulation and control module in the auxiliary driving control unit through the data distribution service.