Hardware-in-the-loop test method, device and equipment of heavy commercial vehicle blind area monitoring and early warning system and medium

Abstract

The invention relates to a hardware-in-the-loop test method, device and equipment of a heavy commercial vehicle blind area monitoring and early warning system and a medium, and belongs to the technical field of vehicle safety testing, and the method comprises the following steps: creating a test scene library required by the blind area monitoring and early warning system, the test target type and the corresponding test scene in each test scene library are limited; setting an alarm area, and designing an evaluation method for each test scene library for the blind area monitoring and early warning system; setting an automatic test process of the blind area monitoring and early warning system based on the test scene library and the corresponding evaluation method to obtain an automatic test script sequence; and configuring a hardware environment of the blind area monitoring and early warning system, executing an automatic test script, starting a simulation test of the blind area monitoring and early warning system, and evaluating the test scene in each test scene library. The hardware-in-the-loop test of the blind area monitoring and early warning system is realized, the operability is high, the test case coverage is comprehensive, and the test efficiency and precision are high.

Description

Background Art

[0002] BSD, short for Blind Spot Detection, is a vehicle safety assistance system. The blind spot monitoring system monitors the blind spot area behind the vehicle in real time through millimeter-wave radar sensors or cameras and other devices. Once other road users such as vehicles, pedestrians or bicycles are detected entering the blind spot, the system warns the driver to alert him to potential dangers. With the rapid development of intelligent driving technology, the blind spot monitoring system has become one of the important auxiliary systems to improve driving safety. By monitoring the blind spot conditions behind the vehicle in real time, it provides timely and accurate warning information to the driver, thereby effectively reducing the risk of traffic accidents. Therefore, its performance reliability is crucial. However, in the actual vehicle development process, traditional real vehicle road testing has problems such as high cost, low efficiency and high risk, and cannot fully evaluate the performance of the blind spot monitoring and warning system in a complex dynamic environment. Hardware-in-the-loop testing is a widely used testing method in the development of intelligent assisted driving systems, but the existing blind spot monitoring and warning systems lack hardware-in-the-loop testing, making it difficult to verify the vehicle's ability to monitor blind spots.

[0003] This is a shortcoming of the prior art. Therefore, in view of the above-mentioned defects in the prior art, it is very necessary to provide a hardware-in-the-loop testing method, device, equipment and medium for a blind spot monitoring and warning system for a heavy-duty commercial vehicle. Summary of the invention

[0004] In view of the problems of high cost, low efficiency and high risk of traditional real vehicle road testing, it is impossible to fully evaluate the performance of blind spot monitoring and warning systems in complex dynamic environments. Hardware-in-the-loop testing is a widely used testing method in the development of intelligent assisted driving systems. However, the existing blind spot monitoring and warning systems lack hardware-in-the-loop testing, and it is difficult to verify the vehicle's blind spot monitoring capabilities. The present invention provides a hardware-in-the-loop testing method, device, equipment and medium for a blind spot monitoring and warning system for heavy-duty commercial vehicles to solve the above technical problems.

[0005] In a first aspect, the present invention provides a hardware-in-the-loop testing method for a blind spot monitoring and warning system for a heavy-duty commercial vehicle, comprising the following steps: S1. Create a test scenario library required for the blind spot monitoring and warning system, and define the test target type and corresponding test scenario in each test scenario library; S2. Set the alarm area and design an evaluation method for each test scenario library for the blind spot monitoring and warning system; S3. Set up an automated test process for the blind spot monitoring and warning system based on the test scenario library and the corresponding evaluation method to obtain an automated test script sequence; S4. Configure the hardware environment of the blind spot monitoring and warning system, execute the automated test script, start the simulation test of the blind spot monitoring and warning system, and evaluate each test scenario in the test scenario library.

[0006] Furthermore, the specific steps of step S1 are as follows: S11. Create an adjacent lane overtaking alarm test scenario library, a lateral lane change alarm test scenario library, an oncoming vehicle test scenario library, and a virtual scene test scenario library for the blind spot monitoring and warning system; S12. Determine the target types of each test scenario library of the blind spot monitoring and warning system as pedestrians, motorcycles and cars; S13. Determine the test road type of each test scenario library, including a straight road scenario and a curved road scenario; S14. Determine the vehicle speed setting type of each test scenario library, including low-speed, medium-speed and high-speed scenarios; S15. Set the test scenarios in each test scenario library to obtain test cases.

[0007] Furthermore, the specific steps of step S15 are as follows: S151. Set the target overtaking vehicle test scenario and the vehicle overtaking target test scenario in the adjacent lane overtaking warning test scenario library, and set the road type and vehicle speed type for each test scenario; S152. Set the target lane change approaching the vehicle simulation test scenario and the vehicle lane change approaching the target test scenario in the lateral lane change warning test scenario library, set the speed of the vehicle and the target, and set the lane interval and relative position of the target and the vehicle; S153. Set the relative relationship between the target and the vehicle in the oncoming vehicle test scenario library; S154. Set a target overtaking the vehicle simulation test scene and a vehicle overtaking the target simulation test scene in the virtual scene test scene library, and set the relative position relationship and relative speed between the target and the vehicle.

[0008] Furthermore, the specific steps of step S2 are as follows: S21. Set up longitudinal warning area, lateral warning area and target departure buffer zone for the blind spot monitoring and warning system; S22. Set up an adjacent lane overtaking alarm test evaluation method for the blind spot monitoring and warning system, and evaluate the accuracy of the blind spot monitoring and warning system's alarms for entering and exiting the alarm area from the set direction of the alarm area under different test road types, different target types, and different set vehicle speed types under the adjacent lane overtaking alarm test scenario library; S23. Set up a lateral lane change alarm test evaluation method for the blind spot monitoring and warning system, and evaluate the alarm accuracy of the blind spot monitoring and warning system when different test road types and different target types approach or move away from the vehicle laterally from different directions under the lateral lane change overtaking test scenario library; S24. Set up an oncoming vehicle test evaluation method for the blind spot monitoring and warning system. When different test road types and different target types approach the vehicle at different speeds and enter the warning area, the blind spot monitoring and warning system of the vehicle can correctly identify the target and evaluate it. S25. A virtual scene test evaluation method is set for the blind spot monitoring and warning system. When different road types and different target types are downloaded from the virtual scene test scenario library and approach the vehicle laterally and vertically outside the warning area, the blind spot monitoring and warning system of the vehicle will conduct an evaluation to see whether it will give a false alarm.

[0009] Furthermore, the specific steps of step S3 are as follows: S31. The automated test process of the blind spot monitoring and warning system starts from the power-on of the hardware-in-the-loop test bench; S32. Initialize the overall parameter variables of the hardware-in-the-loop test of the blind spot monitoring and warning system; S33. Set the initial position of the vehicle, the running speed of the vehicle, the initial position of the target and the target running speed according to the test cases in the test scenario library of the blind spot monitoring and warning system; S34. Set the action trigger conditions of the vehicle or target according to the test cases in the blind spot monitoring and warning system simulation test scenario library; S35. Start the hardware-in-the-loop test, select the test cases in each test scenario library as the current test case, and control the test simulation vehicle according to the current test case; S36. Detect target recognition and alarm conditions according to the evaluation method corresponding to each test scenario library to determine whether the current test case passes the test; S37. The test is completed, an automated test script sequence is generated for the automated test process of the blind spot monitoring and warning system, and the automated test script sequence is corrected.

[0010] Furthermore, in step S32, the overall parameter variables of the hardware-in-the-loop test include vehicle parameters, target parameters, environmental parameters, system configuration parameters, simulation setting parameters and evaluation parameters.

[0011] Furthermore, the specific steps of step S4 are as follows: S41. Install a side radar in a hardware-in-the-loop radar simulator, and perform static calibration of the radar based on the radar simulator; S42. Verify the function activation of the blind spot monitoring and warning system; S43. Select and execute the modified automated test script sequence to start the test; S44. Generate an automated simulation test report based on the evaluation results obtained by the evaluation methods of each test scenario library.

[0012] In a second aspect, the present invention provides a hardware-in-the-loop test device for a blind spot monitoring and warning system for a heavy-duty commercial vehicle, comprising: A test scenario library creation module is used to create the test scenario library required by the blind spot monitoring and early warning system, and to limit the test target type and corresponding test scenario in each test scenario library; Evaluation method setting module, used to set the alarm area and design an evaluation method for each test scenario library for the blind spot monitoring and early warning system; An automated test script generation module is used to set up an automated test process for the blind spot monitoring and early warning system based on a test scenario library and corresponding evaluation methods to obtain an automated test script sequence; The hardware-in-the-loop test execution module is used to configure the hardware environment of the blind spot monitoring and early warning system, execute the automated test script, start the simulation test of the blind spot monitoring and early warning system, and evaluate the test scenarios in each test scenario library.

[0013] In a third aspect, the present invention provides an electronic device, including a processor and a memory; The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the electronic device executes the method described in the first aspect above.

[0014] In a fourth aspect, the present invention provides a storage medium, The storage medium stores instructions, which, when executed on a computer, enable the computer to execute the method described in the first aspect.

[0015] The beneficial effects of the present invention are: The hardware-in-the-loop testing method for the blind spot monitoring and warning system of a heavy-duty commercial vehicle provided by the present invention realizes hardware-in-the-loop testing by creating a simulation test scenario library, a test evaluation method and a specific simulation test process for the blind spot monitoring and warning system. The testing method has strong operability and comprehensive test case coverage, and can effectively guide the hardware-in-the-loop testing of the blind spot monitoring and warning system, with high testing efficiency and accuracy.

[0016] It can be seen that compared with the prior art, the present invention has outstanding substantive features and significant progress, and the beneficial effects of its implementation are also obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a flow chart of a hardware-in-the-loop testing method of a blind spot monitoring and early warning system for a heavy-duty commercial vehicle according to the present invention.

[0019] Figure 2 It is a schematic diagram of a hardware-in-the-loop test system of a blind spot monitoring and early warning system for a heavy-duty commercial vehicle of the present invention. DETAILED DESCRIPTION

[0020] The hardware-in-the-loop test method of the blind spot monitoring and warning system of a heavy-duty commercial vehicle can be applied to one or more electronic devices, wherein the electronic device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0021] An electronic device may be any electronic product that can interact with a user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), an interactive network television (IPTV), etc. The network in which the electronic device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] See also Figure 1 The figure shows a specific implementation of a hardware-in-the-loop test method for a blind spot monitoring and warning system for a medium and heavy-duty commercial vehicle, including the following steps: S1. Create a test scenario library required for the blind spot monitoring and warning system, and define the test target type and corresponding test scenario in each test scenario library; S2. Set the alarm area and design an evaluation method for each test scenario library for the blind spot monitoring and warning system; S3. Set up an automated test process for the blind spot monitoring and warning system based on the test scenario library and the corresponding evaluation method to obtain an automated test script sequence; S4. Configure the hardware environment of the blind spot monitoring and warning system, execute the automated test script, start the simulation test of the blind spot monitoring and warning system, and evaluate each test scenario in the test scenario library.

[0024] In this embodiment, the specific steps of step S1 are as follows: S11. Create an adjacent lane overtaking alarm test scenario library, a lateral lane change alarm test scenario library, an oncoming vehicle test scenario library, and a virtual scene test scenario library for the blind spot monitoring and warning system; S12. Determine the target types of each test scenario library of the blind spot monitoring and warning system as pedestrians, motorcycles and cars; S13. Determine the test road type of each test scenario library, including straight road scenarios and curve scenarios; for example, the curve can be set to 125m, 250m and 500m; S14. Determine the vehicle speed setting type of each test scenario library, including low speed, medium speed and high speed scenarios; low speed ≤ 10km / h, 10km / h < medium speed ≤ 60km / h; high speed > 60km / h; S15. Set the test scenario in each test scenario library to obtain a test case; the specific steps of step S15 are as follows: S151. Set the target overtaking vehicle test scenario and the vehicle overtaking target test scenario in the adjacent lane overtaking alarm test scenario library, and set the road type and vehicle speed type for each test scenario; for example, in the target overtaking vehicle simulation test scenario, the target is located behind the adjacent lane of the vehicle> 100m to achieve a stable speed; In the simulation test scenario of the vehicle overtaking the target, the target is located in front of the vehicle in the adjacent lane and reaches a stable speed by >100m; The relative speed settings between the target and the vehicle include: low speed, medium speed, and high speed; among which, the relative low speed is ≤10km / h, 10km / h<relative medium speed≤36km / h; the relative high speed is>36km / h; For example, the target motorcycle overtakes the vehicle in the simulation test scenario: on a straight road, the vehicle is traveling at a constant speed of 70 km / h, and the motorcycle is located 100m behind the vehicle in the adjacent lane and reaches a constant speed of 85 km / h to approach the vehicle; S152. Set the target lane change approaching the vehicle simulation test scenario and the vehicle lane change approaching the target test scenario in the lateral lane change warning test scenario library, set the speed of the vehicle and the target, and set the lane interval and relative position of the target and the vehicle; For example, set the target to go in the same direction and at the same speed as the vehicle; The target is separated from the vehicle by two lanes. The relative positions of the target and the vehicle include: 0 < distance between the front edge of the target and the rear edge of the vehicle < 3m, the target is parallel to the radar position on the side of the vehicle, and 0 < distance between the rear edge of the target and the front edge of the vehicle < 3m; S153. Set the relative relationship between the target and the vehicle in the oncoming vehicle merging test scenario library; for example, set the target to be >100m ahead of the vehicle in the adjacent lane to achieve a stable vehicle speed, and the target approaches the vehicle in the opposite direction at different speeds and then moves away from the vehicle; S154. Set the target overtaking the vehicle simulation test scene and the vehicle overtaking the target simulation test scene in the virtual scene test scene library, and set the relative position relationship and relative speed between the target and the vehicle; for example, in the target overtaking the vehicle simulation test scene, the target is located one lane behind the vehicle and is >100m away from the vehicle to achieve a stable speed; In the test scenario of the vehicle overtaking a target, the target is located one lane ahead of the vehicle and is >100m away, reaching a stable speed; The relative speed settings between the target and the vehicle include: low speed, medium speed, and high speed; among which, the relative low speed is ≤10km / h, 10km / h<relative medium speed≤36km / h; the relative high speed is>36km / h; The specific steps of step S2 are as follows: S21. Set up longitudinal warning area, lateral warning area and target departure buffer zone for the blind spot monitoring and warning system; For example, the longitudinal warning zone is set from 3m in front of the front edge of the vehicle to 3m behind the rear edge of the vehicle, the lateral warning zone is set from 0.5m to 3.25m away from the outermost lateral edge of the vehicle, and the area 1m outside the longitudinal and lateral warning zones is set as the target departure buffer zone; S22. Set up an adjacent lane overtaking alarm test evaluation method for the blind spot monitoring and warning system, and evaluate the accuracy of the blind spot monitoring and warning system's alarms for entering and exiting the alarm area from the set direction of the alarm area under different test road types, different target types, and different set vehicle speed types under the adjacent lane overtaking alarm test scenario library; For example, if the target enters the alarm area vertically within 300ms and the alarm is immediately issued, the target can continue to alarm uninterruptedly in the alarm area, and the target leaves the alarm area vertically within 1s and the alarm stops, and all the above expected results are met, then the corresponding test case passes the test, otherwise the test fails; S23. Set up a lateral lane change alarm test evaluation method for the blind spot monitoring and warning system, and evaluate the alarm accuracy of the blind spot monitoring and warning system when different test road types and different target types approach or move away from the vehicle laterally from different directions under the lateral lane change overtaking test scenario library; For example, if the target enters the alarm area laterally within 300ms, an alarm message is immediately issued, the target can continue to alarm uninterruptedly in the alarm area, and the target stops alarming within 1s after leaving the alarm area laterally, and all the above expected results are met, the corresponding test case passes the test, otherwise the test fails; S24. Set up an oncoming vehicle test evaluation method for the blind spot monitoring and warning system. When different test road types and different target types approach the vehicle at different speeds and enter the warning area, the blind spot monitoring and warning system of the vehicle can correctly identify the target and evaluate it. For example, under the above test conditions, if the blind spot monitoring and warning system of the vehicle can correctly identify the target and will not give a false alarm, the corresponding test case will pass the test; if an alarm message is given, the test will fail; S25. Setting a virtual scene test evaluation method for the blind spot monitoring and warning system, downloading different road types and different target types in the virtual scene test scenario library, and evaluating whether the blind spot monitoring and warning system of the vehicle will give a false alarm when approaching the vehicle laterally and longitudinally outside the warning area; For example, under the above test conditions, if the blind spot monitoring and warning system of the vehicle does not give a false alarm, the corresponding test case will pass the test; if an alarm is given, the test will fail; The specific steps of step S3 are as follows: S31. The automated test process of the blind spot monitoring and warning system starts from the power-on of the hardware-in-the-loop test bench; S32. Initialize the overall parameter variables of the hardware-in-the-loop test of the blind spot monitoring and warning system; the overall parameter variables of the hardware-in-the-loop test include vehicle parameters, target parameters, environmental parameters, system configuration parameters, simulation setting parameters and evaluation parameters; S33. Set the initial position of the vehicle, the running speed of the vehicle, the initial position of the target and the target running speed according to the test cases in the test scenario library of the blind spot monitoring and warning system; S34. Set the action trigger conditions of the vehicle or target according to the test cases in the blind spot monitoring and warning system simulation test scenario library; S35. Start the hardware-in-the-loop test, select the test cases in each test scenario library as the current test case, and control the test simulation vehicle according to the current test case; S36. Detect target recognition and alarm conditions according to the evaluation method corresponding to each test scenario library to determine whether the current test case passes the test; S37. The test is completed, an automated test script sequence is generated for the automated test process of the blind spot monitoring and warning system, and the automated test script sequence is corrected; The specific steps of step S4 are as follows: S41. Install a side radar in a hardware-in-the-loop radar simulator, and perform static calibration of the radar based on the radar simulator; S42. Verify the function activation of the blind spot monitoring and warning system; S43. Select and execute the modified automated test script sequence to start the test; S44. Generate an automated simulation test report based on the evaluation results obtained by the evaluation methods of each test scenario library.

[0025] It should be noted that in step S32, the vehicle parameters include vehicle type such as sedan, truck, SUV, Vehicle dimensions such as length, width, height, etc., vehicle mass, vehicle dynamics parameters such as maximum speed, acceleration, deceleration, etc., sensor configuration such as the location and performance parameters of radar, camera, lidar, etc., and algorithm parameters of blind spot monitoring system such as detection range, sensitivity, response time, etc.; The target parameters include target type, target size, target motion mode, target initial position and direction, target speed, acceleration and other motion parameters; Environmental parameters include weather conditions, lighting conditions, road types such as highways, urban roads, rural roads, road curvature and slope characteristics, traffic density and flow; System configuration parameters include the version and configuration of the simulation software, the configuration of the hardware-in-the-loop test bench such as processor performance, memory size, IO interface, data acquisition and recording parameters, and system time synchronization parameters; The simulation setting parameters include simulation time step, simulation accuracy and performance requirements, dynamic update frequency of the simulation environment, visualization settings of simulation results, number of test case cycles and repetition conditions; Evaluation parameters include target recognition accuracy, recall rate and false alarm rate, alarm response time, false alarm rate and missed alarm rate, and test case pass criteria and failure conditions.

[0026] It should be understood that the order of execution of the steps in the above embodiment does not mean that the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0027] The following is an embodiment of a hardware-in-the-loop testing device for a blind spot monitoring and warning system for a heavy-duty commercial vehicle provided in an embodiment of the present disclosure. The device and the hardware-in-the-loop testing method for a blind spot monitoring and warning system for a heavy-duty commercial vehicle in the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the hardware-in-the-loop testing device for a blind spot monitoring and warning system for a heavy-duty commercial vehicle, reference may be made to the embodiment of the hardware-in-the-loop testing method for a blind spot monitoring and warning system for a heavy-duty commercial vehicle in the above-mentioned embodiments.

[0028] like Figure 2 As shown, the device comprises: A test scenario library creation module is used to create the test scenario library required by the blind spot monitoring and early warning system, and to limit the test target type and corresponding test scenario in each test scenario library; Evaluation method setting module, used to set the alarm area and design an evaluation method for each test scenario library for the blind spot monitoring and early warning system; An automated test script generation module is used to set up an automated test process for the blind spot monitoring and early warning system based on a test scenario library and corresponding evaluation methods to obtain an automated test script sequence; The hardware-in-the-loop test execution module is used to configure the hardware environment of the blind spot monitoring and early warning system, execute the automated test script, start the simulation test of the blind spot monitoring and early warning system, and evaluate the test scenarios in each test scenario library.

[0029] The hardware-in-the-loop test method of the blind spot monitoring and early warning system for heavy-duty commercial vehicles provided by the present invention is a combination of the modules and algorithm steps of each example described in the embodiments disclosed herein, and can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0030] Those skilled in the art will appreciate that the various aspects of the hardware-in-the-loop test method for the blind spot monitoring and warning system for heavy commercial vehicles provided by the present invention can be implemented as a system, method or program product. Therefore, various aspects of the present disclosure can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software, which can be collectively referred to as a "circuit", "module" or "system" here.

[0031] In the non-transitory computer-readable storage medium storing the hardware-in-the-loop test method of the blind spot monitoring and warning system of a heavy commercial vehicle, it can be, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0032] Although the present invention has been described in detail with reference to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person of ordinary skill in the art may easily think of changes or substitutions within the technical scope disclosed by the present invention, and these shall be within the scope of protection of the present invention.

Claims

1. A hardware-in-the-loop testing method for a blind spot monitoring and warning system for a heavy-duty commercial vehicle, characterized in that: The steps include: S1. Create a test scenario library required for the blind spot monitoring and warning system, and define the test target type and corresponding test scenario in each test scenario library; S2. Set the alarm area and design an evaluation method for each test scenario library for the blind spot monitoring and warning system; S3. Set up an automated test process for the blind spot monitoring and warning system based on the test scenario library and the corresponding evaluation method to obtain an automated test script sequence; S4. Configure the hardware environment of the blind spot monitoring and warning system, execute the automated test script, start the simulation test of the blind spot monitoring and warning system, and evaluate each test scenario in the test scenario library.

2. The hardware-in-the-loop testing method for the blind spot monitoring and warning system of a heavy-duty commercial vehicle according to claim 1, characterized in that: The specific steps of step S1 are as follows: S11. Create an adjacent lane overtaking alarm test scenario library, a lateral lane change alarm test scenario library, an oncoming vehicle test scenario library, and a virtual scene test scenario library for the blind spot monitoring and warning system; S12. Determine the target types of each test scenario library of the blind spot monitoring and warning system as pedestrians, motorcycles and cars; S13. Determine the test road type of each test scenario library, including a straight road scenario and a curved road scenario; S14. Determine the vehicle speed setting type of each test scenario library, including low-speed, medium-speed and high-speed scenarios; S15. Set the test scenarios in each test scenario library to obtain test cases.

3. The hardware-in-the-loop testing method for the blind spot monitoring and warning system of a heavy-duty commercial vehicle as claimed in claim 2, characterized in that: The specific steps of step S15 are as follows: S151. Set the target overtaking vehicle test scenario and the vehicle overtaking target test scenario in the adjacent lane overtaking warning test scenario library, and set the road type and vehicle speed type for each test scenario; S152. Set the target lane change approaching the vehicle simulation test scenario and the vehicle lane change approaching the target test scenario in the lateral lane change warning test scenario library, set the speed of the vehicle and the target, and set the lane interval and relative position of the target and the vehicle; S153. Set the relative relationship between the target and the vehicle in the oncoming vehicle test scenario library; S154. Set a target overtaking the vehicle simulation test scene and a vehicle overtaking the target simulation test scene in the virtual scene test scene library, and set the relative position relationship and relative speed between the target and the vehicle.

4. The hardware-in-the-loop testing method for the blind spot monitoring and warning system of a heavy-duty commercial vehicle as claimed in claim 2, characterized in that: The specific steps of step S2 are as follows: S21. Set up longitudinal warning area, lateral warning area and target departure buffer zone for the blind spot monitoring and warning system; S22. Set up an adjacent lane overtaking alarm test evaluation method for the blind spot monitoring and warning system, and evaluate the accuracy of the blind spot monitoring and warning system's alarms for entering and exiting the alarm area from the set direction of the alarm area under different test road types, different target types, and different set vehicle speed types under the adjacent lane overtaking alarm test scenario library; S23. Set up a lateral lane change alarm test evaluation method for the blind spot monitoring and warning system, and evaluate the alarm accuracy of the blind spot monitoring and warning system when different test road types and different target types approach or move away from the vehicle laterally from different directions under the lateral lane change overtaking test scenario library; S24. Set up an oncoming vehicle test evaluation method for the blind spot monitoring and warning system. When different test road types and different target types approach the vehicle at different speeds and enter the warning area, the blind spot monitoring and warning system of the vehicle can correctly identify the target and evaluate it. S25. A virtual scene test evaluation method is set for the blind spot monitoring and warning system. When different road types and different target types are downloaded from the virtual scene test scenario library and approach the vehicle laterally and vertically outside the warning area, the blind spot monitoring and warning system of the vehicle will conduct an evaluation to see whether it will give a false alarm.

5. The hardware-in-the-loop testing method for the blind spot monitoring and warning system of a heavy-duty commercial vehicle as claimed in claim 4, characterized in that: The specific steps of step S3 are as follows: S31. The automated test process of the blind spot monitoring and warning system starts from the power-on of the hardware-in-the-loop test bench; S32. Initialize the overall parameter variables of the hardware-in-the-loop test of the blind spot monitoring and warning system; S33. Set the initial position of the vehicle, the running speed of the vehicle, the initial position of the target and the target running speed according to the test cases in the test scenario library of the blind spot monitoring and warning system; S34. Set the action trigger conditions of the vehicle or target according to the test cases in the blind spot monitoring and warning system simulation test scenario library; S35. Start the hardware-in-the-loop test, select the test cases in each test scenario library as the current test case, and control the test simulation vehicle according to the current test case; S36. Detect target recognition and alarm conditions according to the evaluation method corresponding to each test scenario library to determine whether the current test case passes the test; S37. The test is completed, an automated test script sequence is generated for the automated test process of the blind spot monitoring and warning system, and the automated test script sequence is corrected.

6. The hardware-in-the-loop testing method for the blind spot monitoring and warning system of a heavy-duty commercial vehicle as claimed in claim 5, characterized in that: In step S32, the overall parameter variables of the hardware-in-the-loop test include vehicle parameters, target parameters, environmental parameters, system configuration parameters, simulation setting parameters and evaluation parameters.

7. The hardware-in-the-loop testing method for the blind spot monitoring and warning system of a heavy-duty commercial vehicle as claimed in claim 5, characterized in that: The specific steps of step S4 are as follows: S41. Install a side radar in a hardware-in-the-loop radar simulator, and perform static calibration of the radar based on the radar simulator; S42. Verify the function activation of the blind spot monitoring and warning system; S43. Select and execute the modified automated test script sequence to start the test; S44. Generate an automated simulation test report based on the evaluation results obtained by the evaluation methods of each test scenario library.

8. A hardware-in-the-loop test device for a blind spot monitoring and warning system for a heavy-duty commercial vehicle, characterized in that: include: A test scenario library creation module is used to create the test scenario library required by the blind spot monitoring and early warning system, and to limit the test target type and corresponding test scenario in each test scenario library; Evaluation method setting module, used to set the alarm area and design an evaluation method for each test scenario library for the blind spot monitoring and early warning system; An automated test script generation module is used to set up an automated test process for the blind spot monitoring and early warning system based on a test scenario library and corresponding evaluation methods to obtain an automated test script sequence; The hardware-in-the-loop test execution module is used to configure the hardware environment of the blind spot monitoring and early warning system, execute the automated test script, start the simulation test of the blind spot monitoring and early warning system, and evaluate the test scenarios in each test scenario library.

9. An electronic device, characterized in that: including a processor and a memory; The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the electronic device executes the method described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores instructions, which, when executed on a computer, enable the computer to execute the method described in any one of claims 1 to 7.

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