Vehicle-in-the-loop test device, method and equipment, storage medium and vehicle

Abstract

The invention discloses a vehicle in-the-loop test device, equipment and method, a storage medium and a vehicle. The device comprises a scene simulation system, a real-time processing system, an inertial navigation combination system, a data monitoring analysis system and a real vehicle system. The scene simulation system can be connected with the real-time processing system. The inertial navigation combination system can be connected with the real-time processing system. The real-time processing system can be connected with a real vehicle system. The scene simulation system and the inertial navigation combination system can be connected with the data monitoring and analyzing system. According to the method, the test data can be displayed in real time in the VIL test process, and the test data are adjusted into the evaluation index chart through the data monitoring analysis system, so that the test data can be displayed more visually, a user can know and analyze the corresponding test data more conveniently, and the user experience is improved. The efficiency of data statistics and analysis of the whole test process is improved, and the time consumed in the test process is saved. The method can be widely applied to the technical field of automobile testing.

Description

Technical Field

[0001] The present invention relates to the field of automobile testing technology, and in particular to a vehicle-in-the-loop testing device, method, equipment, storage medium and vehicle. Background Art

[0002] In the related technology, in the traditional VIL test process, statistics and analysis of the test data of the day are often carried out uniformly after the actual vehicle test. After the problems in the test are found, the simulation scene is modified to prepare for the next retest. Due to the call restrictions of the test site, the overall VIL test process, as well as the statistics and analysis process of the test process will be postponed in turn, which greatly wastes unnecessary time costs. Therefore, there are still technical problems that need to be solved in the related technology. Summary of the invention

[0003] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, an object of an embodiment of the present invention is to provide a vehicle-in-the-loop testing device, equipment, apparatus, storage medium and vehicle, which can improve testing efficiency.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the embodiment of the present invention includes: a vehicle-in-the-loop test device, including: a scene simulation system, a real-time processing system, an inertial navigation combination system, a data monitoring and analysis system, and a real vehicle system;

[0006] The inertial navigation combined system is used to collect vehicle posture data and positioning data when the vehicle is running in real time;

[0007] The real-time processing system is used to map the position information of the vehicle on the simulated road according to the positioning data, and send the position information to the scene simulation system so that the scene simulation system generates a simulation scene; and to send the vehicle posture data and the positioning data to the data monitoring processing system; and to generate fusion information according to the video injection signal and the sensor data and send it to the real vehicle system;

[0008] The scene simulation system is used to simulate and form a simulation scene according to the position information, generate the sensor data and the video injection signal, and send the sensor data to the real-time processing system and the data monitoring and processing system, and inject the video signal and send it to the real-time processing system;

[0009] The real vehicle system is used to control the vehicle to perform a preset action in the simulation scene according to the fusion information;

[0010] The data monitoring and analysis system is used to generate an evaluation index chart based on the vehicle posture data, the positioning data and the sensor data.

[0011] In addition, the vehicle-in-the-loop testing method according to the above embodiment of the present invention may also have the following additional technical features:

[0012] Furthermore, in an embodiment of the present invention, the data monitoring and analysis system includes a data monitoring unit and a data analysis unit; the data analysis unit is used to generate an evaluation index chart based on the vehicle posture data, the positioning data and the sensor data; the data monitoring unit is used to display the vehicle posture data, the positioning data, the sensor data and the evaluation index chart.

[0013] Further, in an embodiment of the present invention, the evaluation index chart includes an evaluation index curve chart or an evaluation index list, and the evaluation index chart is generated according to the vehicle posture data, the positioning data and the sensor data, specifically including:

[0014] generating, according to the vehicle posture data, the positioning data and the sensor data, an evaluation index list including an AEB intervention state, an FCW warning state, a deceleration request state, a vehicle speed, a lateral relative distance between the vehicle and the target object, a longitudinal relative distance between the vehicle and the target object, and a relative speed between the vehicle and the target object;

[0015] and / or

[0016] An evaluation index curve is generated according to the vehicle posture data, the positioning data and the sensor data; wherein the evaluation index curve is a curve in a rectangular coordinate system with any one parameter among the vehicle posture data, the positioning data or the sensor data as the horizontal coordinate and any one parameter among the center point coordinates, the heading angle and the gear switching state as the vertical coordinate.

[0017] Further, in an embodiment of the present invention, mapping the position information of the vehicle on the simulated road according to the positioning data specifically includes:

[0018] The inertial navigation combined system sends the positioning data in the earth coordinate system to the real-time processing system;

[0019] The real-time processing system converts the positioning data into position information in the system plane coordinate system through a coordinate mapping table.

[0020] Furthermore, in an embodiment of the present invention, the data monitoring unit is also used to generate abnormal item information based on the vehicle posture data, the positioning data and the sensor data; the generation of abnormal item information based on the vehicle posture data, the positioning data and the sensor data includes: when the vehicle posture data is greater than a first preset value, or the positioning data is greater than a second preset value, or the sensor data is greater than a third preset value, the data monitoring unit generates abnormal item information.

[0021] On the other hand, the present invention further provides a vehicle-in-the-loop testing method, which is implemented by a vehicle-in-the-loop testing device as described in any of the above items, and the method comprises:

[0022] The inertial navigation system generates vehicle attitude data and positioning data and sends them to the real-time processing system;

[0023] The real-time processing system generates position information on a real road according to the vehicle posture data and the positioning data and sends the position information to the scene simulation system, so that the scene simulation system generates a simulation scene;

[0024] The scene simulation system simulates and forms a simulation scene according to the position information, generates the sensor data and the video injection signal, and sends the video injection signal and the sensor data to the real-time processing system; and sends the sensor data to the data monitoring and analysis system;

[0025] The real-time processing system forwards the vehicle posture data and the positioning data to the data monitoring and analysis system, and generates fusion information according to the video injection signal and the sensor data and sends it to the real vehicle system, so that the real vehicle system controls the vehicle to perform preset actions in the simulation scene according to the fusion data;

[0026] The data monitoring and analysis system generates an evaluation index chart based on the vehicle posture data, the positioning data and the sensor data.

[0027] Furthermore, in an embodiment of the present invention, the method also includes: the data monitoring and analysis system generates abnormal item information based on the vehicle posture data, the positioning data and the sensor data; the generating of abnormal item information based on the vehicle posture data, the positioning data and the sensor data includes: when the vehicle posture data is greater than a first preset value, or the positioning data is greater than a second preset value, or the sensor data is greater than a third preset value, the data monitoring unit generates abnormal item information.

[0028] In addition, the present invention also provides a storage medium, in which processor-executable instructions are stored. When the processor-executable instructions are executed by the processor, they are used to execute the vehicle-in-the-loop testing method as described above.

[0029] In addition, the present invention also provides a vehicle, including a vehicle tested by the vehicle-in-the-loop testing method as described above.

[0030] The advantages and beneficial effects of the present invention will be partly given in the following description, partly become apparent from the following description, or be understood through the practice of the present invention:

[0031] The present invention can realize real-time display of test data in the VIL test process through information interaction among the scene simulation system, the real-time processing system, the inertial navigation combination system, the data monitoring and analysis system and the real vehicle system, and adjust the test data into an evaluation index chart through the data monitoring and analysis system, so that the present invention can display the test data more intuitively, and make it more convenient for users to know and analyze the corresponding test data, so as to improve the efficiency of data statistics and analysis of the entire test process and save time consumed in the test process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of a vehicle-in-the-loop testing device in a specific embodiment of the present invention;

[0033] Figure 2 It is a structural schematic diagram of a vehicle-in-the-loop testing device in another specific embodiment of the present invention;

[0034] Figure 3 A schematic diagram of the steps of mapping the position information of a vehicle on a simulated road based on positioning data;

[0035] Figure 4 A schematic diagram of the steps of a vehicle-in-the-loop testing method in a specific embodiment of the present invention;

[0036] Figure 5 A schematic diagram of the steps of a vehicle-in-the-loop testing method in another specific embodiment of the present invention;

[0037] Figure 6 A schematic diagram of the steps of a vehicle-in-the-loop testing method in another specific embodiment of the present invention;

[0038] Figure 7 A schematic diagram of an evaluation index list in a specific embodiment of the present invention;

[0039] Figure 8 A schematic diagram of an evaluation index curve in a specific embodiment of the present invention;

[0040] Fig. 9It is a structural schematic diagram of a vehicle-in-the-loop testing device in another specific embodiment of the present invention;

[0041] Fig.10 It is a flowchart of an analysis operation model in a data analysis feedback system in another specific embodiment of the present invention. DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described in detail below with reference to the accompanying drawings to explain the principles and processes of the vehicle-in-the-loop testing device, method, equipment, storage medium and vehicle in the embodiments of the present invention.

[0043] First, the relevant terms in the present invention are explained:

[0044] VIL test: Vehicle in Loop test, vehicle in loop test; vehicle in loop (VIL) test is a test method used to evaluate the emission performance and fuel economy of vehicles in actual road environments. It consists of the following main components: Route selection: The test needs to be carried out on actual roads, so it is necessary to select a suitable test route to cover a variety of different driving conditions and road conditions to simulate actual driving conditions. Test instruments: The test instruments are used to measure vehicle emissions, fuel consumption and performance parameters, including exhaust gas analyzers, fuel flow meters, speedometers, accelerometers, etc. Test conditions: The vehicle in loop test needs to be carried out under specific test conditions, including ambient temperature, humidity, air pressure, etc., to ensure the accuracy and comparability of the test results. Test process: The test process needs to simulate actual driving conditions, including starting, acceleration, driving, sudden braking, sharp turns, etc. The test process needs to be carried out multiple times to obtain reliable test data. Data analysis: After the test, the test data needs to be analyzed and processed to evaluate the vehicle's emission performance and fuel economy, and compare with the applicable emission standards and fuel economy standards.

[0045] AEB: Autonomous-Emergency-Braking, automatic braking system;

[0046] FCW: Forward Collision Warning, forward collision warning system.

[0047] In the related technology, in the traditional VIL test process, statistics and analysis of the test data of the day are often carried out uniformly after the actual vehicle test. After the problems in the test are found, the simulation scene is modified to prepare for the next retest. Due to the call restrictions of the test site, the overall VIL test process, as well as the statistics and analysis process of the test process will be postponed in turn, which greatly wastes unnecessary time costs. Therefore, there are still technical problems that need to be solved in the related technology.

[0048] In view of the above technical problems, the present invention can provide a vehicle-in-the-loop testing device. Figure 1 , Figure 1 Schematic diagram of the structure of the vehicle-in-the-loop test device in the present invention. Figure 1 In the vehicle-in-the-loop test device, the vehicle-in-the-loop test device may include but is not limited to a scenario simulation system 1, a real-time processing system 2, an inertial navigation combination system 3, a data monitoring and analysis system 4, and a real vehicle system 5. The scenario simulation system 1 may be connected to the real-time processing system 2. The inertial navigation combination system 3 may be connected to the real-time processing system. The real-time processing system 2 may be connected to the real vehicle system 5. The scenario simulation system 1 and the inertial navigation combination system 3 may be connected to the data monitoring and analysis system 4.

[0049] The inertial navigation combination system 3 can collect the vehicle posture data and positioning data when the vehicle is running in real time and send them to the real-time processing system 2. The real-time processing system 2 can map the position information of the vehicle on the simulated road based on the received positioning data, and send the position information to the scene simulation system 1, so that the scene simulation system 1 generates a simulation scene. At the same time, the real-time processing system 2 can also send the vehicle posture data and positioning data to the data monitoring and processing system. After the simulation scene is generated, the scene simulation system 1 can send the video injection signal and sensor data to the real-time processing system 2. The real-time processing system 2 can generate fusion information based on the received video injection signal and sensor data and send it to the real vehicle system 5; the real vehicle system 5 can control the vehicle to perform a preset action in the simulation scene based on the received fusion information, and the preset action can be emergency avoidance or emergency braking. After receiving the vehicle posture data, positioning data and sensor data, the data monitoring and analysis system 4 can generate an evaluation index chart through a built-in algorithm.

[0050] It is understandable that the vehicle posture data and positioning data when the vehicle is running in real time can be data measured when the vehicle is running at the beginning of the test. The preset action can be an emergency brake and an emergency avoidance action. Emergency avoidance can be that the control system controls the steering wheel of the car to turn in a very short time. Emergency braking can be that the control system brakes in a very short time.

[0051] Further, in some feasible embodiments of the present invention, referring to Figure 2The data monitoring and analysis system 4 may include a data monitoring unit 41 and a data analysis unit 42. The data analysis unit 42 may be integrated with the data monitoring unit 41 into a data monitoring and analysis system. The data analysis unit 42 may be connected to the data monitoring unit 41. The data analysis unit 42 may generate an evaluation index chart through a built-in algorithm based on the received vehicle posture data, positioning data, and sensor data; the data monitoring unit 41 may directly display the received vehicle posture data, positioning data, and sensor data, and may also display the evaluation index chart generated by the data analysis unit 42.

[0052] Further, in some feasible embodiments of the present invention, referring to Figure 3 The process of mapping the position information of the vehicle on the simulated road according to the positioning data specifically includes step S101 and step S102.

[0053] S101. The inertial navigation combined system sends positioning data in the earth coordinate system to the real-time processing system.

[0054] S102: The real-time processing system converts the positioning data into position information in the system plane coordinate system through a coordinate mapping table.

[0055] Specifically, the inertial navigation system sends the positioning data in the earth coordinate system to the real-time processing system. The real-time processing system can convert the positioning data into position information in the system plane coordinate system through a built-in preset coordinate mapping table. Specifically, the system plane coordinate system of the present invention adopts an XY coordinate system.

[0056] Furthermore, in some feasible embodiments of the present invention, the data monitoring unit may also generate abnormal item information based on the vehicle posture data, positioning data and sensor data; generating abnormal item information based on the vehicle posture data, positioning data and sensor data includes: when the vehicle posture data is greater than a first preset value, or the positioning data is greater than a second preset value, or the sensor data is greater than a third preset value, the data monitoring unit generates abnormal item information.

[0057] Specifically, in some feasible embodiments of the present invention, the data monitoring unit can also generate abnormal item information based on the vehicle posture data, positioning data and sensor data. Specifically, the test user first sets a first preset value, a second preset value and a third preset value. As the vehicle continues to run, when the vehicle posture data is greater than the first preset value, or the positioning data is greater than the second preset value, or the sensor data is greater than the third preset value, the data monitoring unit generates abnormal item information, and the abnormal item information can be displayed by the data monitoring and analysis system. It can be understood that the specific values ​​of the first preset value, the second preset value and the third preset value can be determined according to different test requirements.

[0058] In addition, refer to Figure 4 The present invention also provides a vehicle-in-the-loop testing method. The method can be implemented by the above-mentioned vehicle-in-the-loop testing device. The method can include steps S111 to S115.

[0059] S111, the inertial navigation combined system generates vehicle posture data and positioning data and sends them to the real-time processing system.

[0060] S112. The real-time processing system generates position information on a real road according to the vehicle posture data and the positioning data, and sends the position information to the scene simulation system, so that the scene simulation system generates a simulation scene.

[0061] S113, the scene simulation system simulates and forms a simulation scene according to the location information, generates sensor data and a video injection signal, and sends the video injection signal and the sensor data to the real-time processing system; and sends the sensor data to the data monitoring and analysis system.

[0062] S114. The real-time processing system forwards the vehicle posture data and positioning data to the data monitoring and analysis system, and generates fusion information based on the video injection signal and sensor data and sends it to the real vehicle system, so that the real vehicle system controls the vehicle to perform preset actions in the simulation scene based on the fusion data.

[0063] S115. The data monitoring and analysis system generates an evaluation index chart based on the vehicle posture data, positioning data, and sensor data.

[0064] Further, in some feasible embodiments of the present invention, referring to Figure 5 , the method also includes step S116.

[0065] S116. The data monitoring and analysis system generates abnormal item information based on the vehicle posture data, positioning data and sensor data.

[0066] Specifically, generating abnormal item information based on vehicle posture data, positioning data and sensor data includes: when the vehicle posture data is greater than a first preset value, or the positioning data is greater than a second preset value, or the sensor data is greater than a third preset value, the data monitoring unit generates abnormal item information.

[0067] Further, in some feasible embodiments of the present invention, referring to Figure 6 The evaluation index chart may include an evaluation index curve chart or an evaluation index list. The process of generating the evaluation index chart according to the vehicle posture data, the positioning data and the sensor data may specifically include step S121 or step S122.

[0068] Step S121: Generate an evaluation index list including AEB intervention status, FCW alarm status, deceleration request status, vehicle speed, lateral relative distance between the vehicle and the target object, longitudinal relative distance between the vehicle and the target object, and relative speed between the vehicle and the target object based on the vehicle posture data, positioning data, and sensor data.

[0069] It is understandable that the AEB intervention state can be represented by a binary number 0 or 1, 1 means that AEB intervenes in the control of the vehicle, that is, the vehicle triggers the automatic braking system, and 0 means that AEB does not intervene in the control of the vehicle, that is, the vehicle does not trigger the automatic braking system. The FCW alarm state can also be represented by a binary number 0 or 1. 1 means that the vehicle triggers the FCW alarm, and 0 means that the AEB vehicle does not trigger the FCW alarm. The deceleration request state can also be represented by a binary number 0 or 1. 1 means that the vehicle requests the internal controller to decelerate and executes deceleration, and 0 means that the vehicle does not request the internal controller to decelerate.

[0070] Specifically, the data monitoring and analysis system can generate a list of evaluation indicators including AEB intervention status, FCW alarm status, deceleration request status, vehicle speed, the relative lateral and longitudinal distances between the vehicle and the target object, and the relative speed between the vehicle and the target object through a built-in algorithm based on the vehicle posture data, positioning data, and sensor data. Figure 7 In the evaluation index list, the AEB intervention state, FCW alarm state, deceleration request state, vehicle speed, lateral relative distance between the vehicle and the target, longitudinal relative distance between the vehicle and the target, and relative speed between the vehicle and the target correspond to a class in the list. The 1 or 0 corresponding to the AEB intervention state can also be other values, the 1 or 0 corresponding to the FCW alarm state can also be other values, the deceleration request state 1 or 0 can also be other values, the specific value b of the vehicle speed, the lateral relative distance c between the vehicle and the target, the longitudinal relative distance d between the vehicle and the target, and the relative speed e between the vehicle and the target are the specific values ​​corresponding to the classes in the list.

[0071] Step S122, generating an evaluation index curve according to the vehicle posture data, positioning data and sensor data; wherein the evaluation index curve is a curve in a rectangular coordinate system with any one parameter among the vehicle posture data, positioning data or sensor data as the horizontal coordinate and any one parameter among the center point coordinates, heading angle and gear switching state as the vertical coordinate.

[0072] Specifically, an evaluation index curve is generated based on the vehicle posture data, positioning data and sensor data; wherein the evaluation index curve is a curve in a rectangular coordinate system with any one parameter among the vehicle posture data, positioning data or sensor data as the horizontal coordinate and any one parameter among the center point coordinates, heading angle and gear switching state as the vertical coordinate.

[0073] Specifically, refer to Figure 8 The horizontal coordinate of the rectangular coordinate system can be any one of the vehicle posture data, positioning data or sensor data. The vertical coordinate can be any one of the parameters of the center point coordinates, heading angle and gear switching state. The data monitoring and analysis system can take the vehicle posture data as the horizontal coordinate and the center point coordinates as the vertical coordinate. Since the vehicle continues to travel in the simulation scenario, the vehicle posture data and center point coordinates obtained by the data monitoring and analysis system in each acquisition cycle are different. Multiple different vehicle posture data and center point coordinates can form corresponding curves. Similarly, the curves of heading angle and positioning data, and sensor data and gear switching state can be obtained in the same way.

[0074] The specific implementation principle of the present invention is described below in conjunction with the accompanying drawings:

[0075] Reference Fig. 9 as well as Fig.10 The vehicle-in-the-loop test device of this embodiment may include a real vehicle system, a scene simulation system, a real-time processing system, an inertial navigation combination system, a data monitoring and processing system, and a data analysis and feedback system.

[0076] The commonly used VIL test system consists of a real vehicle system equipped with an ADAS system, a scenario simulation system, a real-time processing system, an inertial navigation combination system, a data analysis feedback system, and a data monitoring and processing system. The data analysis feedback system and the data monitoring and processing system can form a data monitoring and analysis system.

[0077] The real-time processing system can be used for real-time simulation calculation and hardware signal acquisition. It has high bandwidth and scalability and supports a variety of vehicle network communication protocols.

[0078] The scene simulation system can generate simulation scenes that are close to real roads and traffic flows based on the vehicle model moving in the simulation system, send video injection signals and scene and sensor data to the real-time processing system, and input them to the controller under test of the real vehicle system through the bus and hard-wire channels.

[0079] The controller combines the video injection signal and the sensor input signal, and after perception and decision-making, it outputs a control signal to the entire vehicle.

[0080] The inertial navigation combined system collects information such as the position and posture of the real vehicle, analyzes it through the real-time processing system, and converts it into the data structure required by the scene simulation system, packages it and sends it to the simulation scene, thereby driving the movement of the vehicle model in the scene simulation system.

[0081] The data monitoring and processing system runs the test management software to conduct real-time monitoring of the test system and collect and evaluate the test results.

[0082] The data analysis feedback system of the present invention can calculate the ADAS function evaluation index in real time after receiving the VIL test data sent by the data monitoring and processing system through the analysis and calculation model set inside, and use the calculation results as the basis for the simulation scene and the actual vehicle test correction. The flow chart of the analysis and calculation model in the data analysis feedback system is as follows Fig.10 As shown:

[0083] Specifically, the model divides the data input channels of different functions according to different ADAS functions. After the VIL test data is input into the calculation and analysis model, it is sent from each channel to the corresponding evaluation index calculation unit for rapid analysis and calculation, and the evaluation index curve and evaluation index data list are output in real time. If any VIL test data is less than the preset threshold, it is determined that there is no abnormality in any VIL test data. When there are no abnormal items in all VIL test data, the test results are saved in the analysis and calculation model and exported for further processing after the test. If there are abnormal items in the VIL test data, the data monitoring and processing system can display the abnormal items, and the VIL testers can find the test problems in time through the abnormal items, and will use this as a basis to synchronously modify the simulation scene and the actual vehicle test process to improve the efficiency of VIL testing.

[0084] and Figure 1 Corresponding to the device, an embodiment of the present invention further provides a vehicle-in-the-loop test device, characterized in that it includes one or more vehicle-in-the-loop test devices as described in any of the above items.

[0085] The contents of the above-mentioned device embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above-mentioned device embodiments, and the beneficial effects achieved are also the same as those achieved by the above-mentioned method embodiments.

[0086] and Figure 3 Corresponding to the method, an embodiment of the present invention further provides a computer-readable storage medium, which stores instructions executable by a processor, and the processor-executable instructions are used to execute the vehicle-in-the-loop test device when executed by the processor.

[0087] The contents of the above-mentioned vehicle-in-the-loop testing device embodiment are all applicable to the present storage medium embodiment. The functions specifically implemented by the present storage medium embodiment are the same as those of the above-mentioned vehicle-in-the-loop testing device embodiment, and the beneficial effects achieved are also the same as those achieved by the above-mentioned vehicle-in-the-loop testing device embodiment.

[0088] In addition, the present invention also provides a vehicle, which may include the vehicle-in-the-loop test device described above or the vehicle-in-the-loop test equipment described above. Specifically, the vehicle may be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck, or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0089] The contents of the above-mentioned vehicle-in-the-loop testing device or system embodiments are all applicable to the present vehicle embodiments. The functions specifically implemented by the present vehicle embodiments are the same as those of the above-mentioned vehicle-in-the-loop testing device or system embodiments, and the beneficial effects achieved are also the same as those achieved by the above-mentioned vehicle-in-the-loop testing device or system embodiments.

[0090] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0091] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0092] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several programs to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0093] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing the logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution systems, devices or apparatuses.

[0094] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0095] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0096] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0097] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0098] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A vehicle-in-the-loop testing device, characterized in that: include: Scenario simulation system, real-time processing system, inertial navigation combination system, data monitoring and analysis system and real vehicle system; The inertial navigation combined system is used to collect vehicle posture data and positioning data of the vehicle in real time operation; The real-time processing system is used to map the position information of the vehicle on the simulated road according to the positioning data, and send the position information to the scene simulation system so that the scene simulation system generates a simulation scene; and for sending the vehicle posture data and the positioning data to the data monitoring and processing system; and for generating fusion information according to the video injection signal and the sensor data and sending the fusion information to the real vehicle system; The scene simulation system is used to simulate and form a simulation scene according to the position information, generate the sensor data and the video injection signal, and send the sensor data to the real-time processing system and the data monitoring and processing system, and inject the video signal and send it to the real-time processing system; The real vehicle system is used to control the vehicle to perform a preset action in the simulation scene according to the fusion information; The data monitoring and analysis system is used to generate an evaluation index chart based on the vehicle posture data, the positioning data and the sensor data.

2. The vehicle-in-the-loop testing device according to claim 1, characterized in that: The data monitoring and analysis system includes a data monitoring unit and a data analysis unit; the data analysis unit is used to generate an evaluation index chart based on the vehicle posture data, the positioning data and the sensor data; the data monitoring unit is used to display the vehicle posture data, the positioning data, the sensor data and the evaluation index chart.

3. The vehicle-in-the-loop testing device according to claim 1, characterized in that: The evaluation index chart includes an evaluation index curve chart or an evaluation index list, and the generating of the evaluation index chart according to the vehicle posture data, the positioning data and the sensor data specifically includes: generating the evaluation index chart including the AEB intervention state, A list of evaluation indicators for FCW alarm status, deceleration request status, vehicle speed, lateral relative distance between the vehicle and the target object, longitudinal relative distance between the vehicle and the target object, and relative speed between the vehicle and the target object; and / or An evaluation index curve is generated according to the vehicle posture data, the positioning data and the sensor data; wherein the evaluation index curve is a curve in a rectangular coordinate system with any one parameter among the vehicle posture data, the positioning data or the sensor data as the horizontal coordinate and any one parameter among the center point coordinates, the heading angle and the gear switching state as the vertical coordinate.

4. The vehicle-in-the-loop testing device according to claim 1, characterized in that: Mapping the position information of the vehicle on the simulated road according to the positioning data specifically includes: The inertial navigation combined system sends the positioning data in the earth coordinate system to the real-time processing system; The real-time processing system converts the positioning data into position information in the system plane coordinate system through a coordinate mapping table.

5. The vehicle-in-the-loop testing device according to claim 1, characterized in that: The data monitoring unit is also used to generate abnormal item information based on the vehicle posture data, the positioning data and the sensor data; the generation of abnormal item information based on the vehicle posture data, the positioning data and the sensor data includes: when the vehicle posture data is greater than a first preset value, or the positioning data is greater than a second preset value, or the sensor data is greater than a third preset value, the data monitoring unit generates abnormal item information.

6. A vehicle-in-the-loop testing method, characterized in that: The method is implemented by a vehicle-in-the-loop testing device as described in any one of claims 1 to 5, and includes: The inertial navigation system generates vehicle attitude data and positioning data and sends them to the real-time processing system; The real-time processing system generates position information on a real road according to the vehicle posture data and the positioning data and sends the position information to the scene simulation system, so that the scene simulation system generates a simulation scene; The scene simulation system simulates and forms a simulation scene according to the position information, generates sensor data and a video injection signal, and sends the video injection signal and the sensor data to the real-time processing system; and sends the sensor data to the data monitoring and analysis system; The real-time processing system forwards the vehicle posture data and the positioning data to the data monitoring and analysis system, and generates fusion information according to the video injection signal and the sensor data and sends it to the real vehicle system, so that the real vehicle system controls the vehicle to perform preset actions in the simulation scene according to the fusion data; The data monitoring and analysis system generates an evaluation index chart based on the vehicle posture data, the positioning data and the sensor data.

7. The vehicle-in-the-loop testing method according to claim 6, characterized in that: The method also includes: the data monitoring and analysis system generates abnormal item information based on the vehicle posture data, the positioning data and the sensor data; the generating of abnormal item information based on the vehicle posture data, the positioning data and the sensor data includes: when the vehicle posture data is greater than a first preset value, or the positioning data is greater than a second preset value, or the sensor data is greater than a third preset value, the data monitoring unit generates abnormal item information.

8. A vehicle-in-the-loop test device, characterized in that: The method comprises one or more vehicle-in-the-loop test devices as described in any one of claims 1 to 5.

9. A computer-readable storage medium storing instructions executable by a processor, characterized in that: The processor-executable instructions are used to execute the vehicle-in-the-loop testing method as described in any one of claims 6-7 when executed by the processor.

10. A vehicle, characterized in that: The method is obtained by testing the vehicle-in-the-loop testing method as described in any one of claims 6 to 7.

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