A vehicle safety performance testing and certification method and system

Abstract

The present invention relates to the technical field of vehicle safety testing, and in particular to a vehicle safety performance testing and certification method and system, the method comprising: step one: selecting a system to be tested, obtaining the control logic of the system to be tested, and setting a control node between the system to be tested and a corresponding associated system; step two: identifying the signal source characteristics of the system to be tested, and generating multiple functional processes according to the control logic of the system to be tested; step three: according to a preset signal injection rule, fixedly or dynamically selecting multiple signal injection points in the functional process, and injecting a test signal into the functional process; step four: collecting an execution signal, and judging whether the corresponding functional process can execute the corresponding safety function by analyzing the execution signal; if yes, proceeding to the next step; otherwise, adjusting the control logic and returning to step one; step five: evaluating the functional safety performance of the whole vehicle according to the judgment result of the previous step, and outputting the evaluation result.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety testing, and in particular to a vehicle safety performance testing and certification method and system. Background Art

[0002] With the development of intelligent driving technology, various assisted driving systems have gradually been applied. Assisted driving systems are used to improve the safety performance of the entire vehicle and reduce the probability of accidents.

[0003] In the vehicle safety test, the functional safety of these systems needs to be tested. This is called the functional safety test of the vehicle, and its purpose is to avoid malfunction of the safety system due to hardware failure or systemic failure when the electronic and electrical system fails. This can reduce the risk of electronic and electrical system failures, thereby improving the overall safety of the vehicle and ensuring its safety and reliability when operating in complex environments.

[0004] In the prior art, for example, the patent with publication number CN116242638A discloses a functional safety test method, device and computer-readable storage medium, including: determining the functional safety type to be tested of the target system of the vehicle; generating a target test condition corresponding to the functional safety type to be tested; constructing a target test scenario corresponding to the functional safety type to be tested; in the target test scenario, collecting the vehicle status data of the vehicle under the target test condition; based on the vehicle status data, determining the functional safety test result of the vehicle. Generating the target test condition corresponding to the functional safety type to be tested includes: determining the circuit breaker port of the target system based on the functional safety type to be tested and the internal structure of the target system; using the circuit breaker port, inputting fault information to the target system, wherein the fault information is communication fault information and / or sensor fault information; based on the fault information, controlling the target system to run to the target test condition. The invention uses a circuit breaker, and the method of generating an injection point by disconnecting the connection is relatively traditional. In the prior art, there is also a method of connecting different injection points by controlling the switch on and off by controlling the matrix, that is, hardware such as switches are required, and the system structure is relatively complex.

[0005] Based on this, we propose a method and system for testing and certifying the functional safety performance of automobiles. Summary of the invention

[0006] The present invention generates multiple functional processes according to the system functions and the flow paths of signals, and multiple signal injection points are preset in each functional process, and each signal injection point can be used to connect a data injection device. By selecting a matrix, different data can be injected into the corresponding signal injection point to simulate the failure state of the corresponding electronic equipment.

[0007] The technical solution proposed by the present invention is: a vehicle safety performance test and certification method, the method comprising:

[0008] Step 1: Select a system to be tested, obtain the control logic of the system to be tested, and set a control node between the system to be tested and a corresponding associated system, wherein the system to be tested includes a main system and / or a redundant backup system;

[0009] Step 2: Identify the signal source characteristics of the system under test, and generate multiple functional processes according to the control logic of the system under test; each of the functional processes includes signal acquisition, signal processing and output of execution signals;

[0010] Step 3: According to the preset signal injection rules, multiple signal injection points are fixedly or dynamically selected in the functional process, and the test signal is injected into the functional process;

[0011] Step 4: Collect the execution signal and determine whether the corresponding functional process can execute the corresponding safety function by analyzing the execution signal; if yes, proceed to the next step; otherwise, adjust the control logic and return to step 1;

[0012] Step 5: Based on the judgment results of the previous step, evaluate the functional safety performance of the entire vehicle and output the evaluation results.

[0013] Preferably, the selecting of the system to be tested, obtaining the control logic of the system to be tested, and setting a control node between the system to be tested and the corresponding associated system comprises the following steps:

[0014] Select a subsystem from the vehicle auxiliary function system as the system to be tested, wherein the auxiliary function system includes one or more of an automatic emergency braking AEB system, an adaptive cruise control ACC system, and a blind spot monitoring BSM system;

[0015] Acquire the control logic of the system under test according to the function of the system under test, wherein the control logic includes signal source control logic, fault confirmation logic and execution signal generation logic;

[0016] Identify the associated system connected to the system under test, select a control node at the connection between the system under test and the associated system, and control the connection or disconnection between the system under test and the associated system by setting a control switch at the control node.

[0017] Preferably, the step of identifying the signal source characteristics of the system under test and generating multiple functional processes according to the control logic of the system under test comprises the following steps:

[0018] Obtaining an input signal of the system under test, identifying characteristics of the input signal, and dividing a signal source of the system under test into a plurality of signal points according to the characteristics of the input signal;

[0019] According to the control logic, the flow path of the signal point signal is obtained, and the control process is constructed according to the signal propagation path; specifically:

[0020] According to the signal source control logic, a corresponding signal source is selected, wherein the signal source includes one or more of a sensor, a video device, and a laser radar device;

[0021] Identify signal points in the signal source and obtain the number and distribution positions of isomorphic signal points;

[0022] According to the fault confirmation logic, information of the main controller and / or microcontroller connected to the signal point and information of the actuator connected to the main controller and / or microcontroller are obtained;

[0023] The signal flow path from each signal point to the corresponding actuator is obtained, and the control process is constructed according to the signal flow path.

[0024] Preferably, the step of identifying all signal points in the signal source, constructing a homogeneous signal point data set, and obtaining the number and distribution positions of the homogeneous signal points comprises the following steps:

[0025] Obtaining the input signal of each signal point, extracting the characteristics of the input signal of each signal point, classifying all signal points of the signal source by a clustering analysis algorithm, obtaining multiple isomorphic signal point sets, and assigning an identification label one to each signal point in the isomorphic signal point set;

[0026] Acquire data of each signal point in the isomorphic signal point set to form a isomorphic signal point data sequence;

[0027] A plurality of isomorphic signal point data sequences constitute a isomorphic signal point data set.

[0028] Preferably, the method of fixedly or dynamically selecting a plurality of signal injection points in the functional process according to a preset signal injection rule and injecting a test signal into the functional process comprises the following steps:

[0029] Construct signal injection rules, and generate corresponding injection data matrix and selection matrix according to the injection rules;

[0030] The signal injection rule is that the elements in each row of the injection data matrix are test data of a corresponding signal injection point in a functional process; the test data includes distance data, visual image data, point cloud images, visual image features, point cloud image features and execution signals simulating various road conditions;

[0031] According to the test content, set the selection matrix and select the signal injection point through the selection matrix.

[0032] Preferably, the selection matrix is ​​set according to the test content, and the signal injection point is selected by the selection matrix, specifically:

[0033] Constructing the selection matrix ;

[0034] The product of the injection data matrix and the selection matrix is ​​the injection point data injection matrix;

[0035] Extracting the row vector of the data injection matrix of the data injection point as the injection data of one functional process or multiple functional processes;

[0036] According to whether the element value in each row vector is zero, it is judged whether there is data injection at the corresponding injection point;

[0037] If the value of the data injected by the corresponding signal injection point is zero, it is determined that the signal injection point is not selected.

[0038] Preferably, the collecting execution signals and determining whether the corresponding functional process can execute the corresponding safety function by analyzing the execution signals include the following steps:

[0039] After the data in the injection point data injection matrix is ​​injected into the corresponding data injection point;

[0040] Collect the execution signal output of the corresponding functional process;

[0041] Determine whether the execution signal is valid. If the execution signal is invalid, determine whether a functional safety failure occurs in a corresponding functional process or multiple functional processes; the functional safety failure includes an unexpected functional failure and an expected functional failure;

[0042] Collect the execution signal output of the redundant backup system and determine whether the execution signal output of the redundant backup system is normal. If so, it is considered that the main system and the redundant backup system can switch normally and the functional safety of the system under test is normal; otherwise, it is considered that the functional safety of the system under test is abnormal and the test results are output.

[0043] Preferably, the step of evaluating the functional safety performance of the vehicle according to the judgment result of the previous step comprises the following steps:

[0044] Obtain the output test results of the system to be tested and determine whether the functional safety of the system to be tested is abnormal; if the functional safety of the system to be tested is abnormal, it is considered that the vehicle safety test has failed; feed back the test results to the host computer to facilitate the test personnel to obtain the test results from the host computer.

[0045] Beneficial effects of the present invention:

[0046] 1. The present invention, by identifying the signal source characteristics of the system to be tested and according to the control logic of the system to be tested, generates multiple functional processes, sets multiple signal injection points in each functional process for connection with the signal injection device, combines the injected data of the injection points with the analysis of the execution signal, evaluates the functional safety of the system to be tested when the corresponding electronic equipment fails, and judges the safety performance of the whole vehicle according to the corresponding functional safety evaluation.

[0047] 2. The present invention constructs a selection matrix , by multiplying the injection data matrix with the selection matrix to generate the injection point data injection matrix; extracting the row vector of the injection point data injection matrix as the injection data of one functional process or multiple functional processes; selecting the data to be injected through the selection matrix, the position of the data in the injection point data injection matrix corresponds to the signal injection point of the corresponding functional process, and in the process of data selection, the selection of the signal injection point is realized; if the value of the element is zero, it means that the injection data of the corresponding signal injection point is not the test data, so the signal injection point is selected. Setting the value of the input data to 0 can simulate abnormal data; it can also simulate low-level signals, because the activation level of most electronic chips is high. In this way, you can select the required signal injection point and simulate the failure of the electronic equipment before the injection point or the inactivation state. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The present invention is a flow chart of a vehicle safety performance testing and certification method. DETAILED DESCRIPTION

[0049] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0050] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0051] refer to Figure 1 The technical solution provided by the present invention is: a vehicle safety performance test and certification method, comprising the following steps:

[0052] Step 1: Select the system to be tested, obtain the control logic of the system to be tested, and set a control node between the system to be tested and the corresponding associated system. The system to be tested includes the main system and / or the redundant backup system. The test method is applicable to the case where the system to be tested is the main system, the redundant backup system, or a combination of the former two.

[0053] The specific steps are as follows:

[0054] Select a subsystem from the vehicle auxiliary function system as the system to be tested, wherein the auxiliary function system includes one or more of an automatic emergency braking AEB system, an adaptive cruise control ACC system, and a blind spot monitoring BSM system;

[0055] Acquire the control logic of the system under test according to the function of the system under test, wherein the control logic includes signal source control logic, fault confirmation logic and execution signal generation logic;

[0056] Identify the associated system connected to the system under test, select a control node at the connection between the system under test and the associated system, and control the connection or disconnection between the system under test and the associated system by setting a control switch at the control node.

[0057] Taking the AEB system as an example, the AEB system is associated with the braking system and the lighting system. When the AEB system is working, the output execution signal is a signal that enables the braking system to perform the deceleration function. If the AEB system does not output the execution signal when AEB is required to work, it is considered that the AEB system is malfunctioning.

[0058] During testing, a control switch is set between the AEB system and the brake system, usually at the connection between the on-board computer and the brake system, because in most cases the data transmitted by the AEB system is processed by the on-board computer.

[0059] Step 2: Identify the signal source characteristics of the system under test, and generate multiple functional processes according to the control logic of the system under test; each of the functional processes includes signal acquisition, signal processing and output of execution signals; including the following steps:

[0060] 2.1. Obtain the input signal of the system under test, identify the characteristics of the input signal, and divide the signal source of the system under test into multiple signal points according to the characteristics of the input signal;

[0061] 2.2. According to the control logic, the flow path of the signal point signal is obtained, and the control process is constructed according to the signal propagation path; specifically: according to the signal source control logic, the corresponding signal source is selected, and the signal source includes one or more of a sensor, a video device, and a lidar device; most of the existing AEB systems obtain distance data from the front and side distance sensors of the vehicle, front camera data, and point cloud data from the lidar; the data of the three are integrated to improve the accuracy of the AEB system in identifying the distance of danger and the characteristics of obstacles.

[0062] 2.3. Identify all signal points in the signal source, construct a homogeneous signal point data set, and obtain the number and distribution of homogeneous signal points; specifically:

[0063] The input signal of each signal point is obtained, the characteristics of the input signal of each signal point are extracted, all the signal points of the signal source are classified by a cluster analysis algorithm, a plurality of isomorphic signal point sets are obtained, and an identification label one is assigned to each signal point in the isomorphic signal point set; for example, the signals measured by the distance sensors at the front and sides of the vehicle are all distance signals, each distance sensor is regarded as a signal point, and all distance sensors are regarded as a isomorphic signal point set; each distance sensor is assigned an identification label one as the identity information of each distance sensor; the identification label one here can be the code of each distance sensor itself when it leaves the factory, or the code assigned by the system.

[0064] The data of each signal point in the isomorphic signal point set is obtained to form a isomorphic signal point data sequence; multiple isomorphic signal point data sequences constitute a isomorphic signal point data set. For example, the distance data measured by each distance sensor can be arranged in the order of coding or the installation position on the vehicle to form a isomorphic signal point data sequence. ;in, Indicates isomorphic signal point data sequences, Indicates The first distance data.

[0065] 2.4. According to the fault confirmation logic, obtain the information of the main controller and / or microcontroller connected to the signal point and the information of the actuator connected to the main controller and / or microcontroller;

[0066] 2.5. Obtain the signal flow path from each signal point to the corresponding actuator, and build a control process based on the signal flow path.

[0067] Step 3: According to the preset signal injection rules, multiple signal injection points are fixedly or dynamically selected in the functional process, and the test signal is injected into the functional process; including the following steps:

[0068] Construct signal injection rules, and generate corresponding injection data matrix and selection matrix according to the injection rules;

[0069] The signal injection rule is that the elements in each row of the injection data matrix are the test data of the corresponding signal injection point in a functional process. Suppose the injection matrix is:

[0070] ,in, Indicates the first function flow Test data of signal injection points, Indicates the number of signal injection points;

[0071] The test data includes distance data, visual image data, point cloud images, visual image features, point cloud image features and execution signals simulating various road conditions;

[0072] According to the test content, set the selection matrix and select the signal injection point through the selection matrix.

[0073] For example, if the test content is whether the AEB system can output the execution signal normally when an obstacle appears in front of the vehicle, that is, whether it can output the signal to notify the on-board computer to control the braking system and slow down the vehicle.

[0074] In this test, since each distance sensor is connected to the onboard computer, each distance sensor and the onboard computer form a functional process;

[0075] The signal injection point can be selected as the output end of the distance sensor, or the input end of the internal calculation unit of the distance sensor. If the input end of the internal calculation unit of the distance sensor is selected, the injected data should be a vector including time data and speed data of the electromagnetic wave.

[0076] We set the input end of the internal calculation unit of the distance sensor as the first signal injection point of the corresponding functional process, the output end of the distance sensor as the second signal injection point, and the output end of the on-board computer as the third signal injection point.

[0077] If our test content is that when the distance sensor of the main system fails, the distance sensor of the redundant backup system sends distance data to the on-board computer to detect whether the on-board computer can send out the execution signal normally.

[0078] Therefore, we choose the output end of the distance sensor as the signal injection point and the output end of the on-board computer as the signal collection point; that is, each functional process has only one signal injection point, and there are 3 distance sensors, which means there are 3 functional processes.

[0079] At this time, the matrix is ​​selected as , the injection matrix is After the selection matrix is ​​selected, the injection point data injection matrix is ; That is, the effect of injecting test data only at the second signal injection point is achieved by selecting the matrix;

[0080] In the test, we set the logic that when the value of the signal received by the distance sensor is 0, that is, the data received by the input end of the calculation unit inside the distance sensor is 0, the calculation unit cannot perform the calculation work normally, that is, the distance sensor fails. This can simulate the situation of distance sensor failure.

[0081] Of course, if the functional safety of the AEB system is tested under the condition of multi-source data fusion, the functional flow can be selected to include the functional flow of the distance sensor and the functional flow of the lidar. At this time, the elements injected into the third row of the matrix are the data of the lidar. The data of the lidar is point cloud data. The feature extraction algorithm can be used to extract multiple feature values ​​from the point cloud data, such as the distance between the obstacle and the vehicle, the size of the obstacle, the angle between the obstacle and the vehicle, etc.

[0082] Because the LiDAR data needs to be processed by the processing unit inside the radar before being input into the on-board computer, we use the input end of the LiDAR's internal processing unit as a signal injection point and the output end of the LiDAR as a signal injection point.

[0083] Step 4: Collect the execution signal, and determine whether the corresponding functional process can execute the corresponding safety function by analyzing the execution signal; if yes, proceed to the next step; otherwise, adjust the control logic and return to step 1; collect the execution signal through the signal collection point, if the collected execution signal is a normal execution signal, that is, in the case of a distance sensor failure of the main system, after receiving the distance data, the on-board computer can still output a normal execution signal, that is, the on-board computer outputs an execution signal to start the braking system when the distance meets the braking conditions according to the distance information (test signal), and when the braking conditions are not met, the function of outputting an execution signal not to start the braking system is normal, that is, the functional safety of the system is normal. If the on-board computer still outputs the execution signal of the starting braking system when the test signal does not meet the conditions of the starting braking system, then there may be a problem with the on-board computer control logic, and the control logic of the on-board computer needs to be adjusted, for example, adjusting the shortest distance and safety threshold of the starting braking system.

[0084] Step 5: Based on the judgment result of the previous step, evaluate the functional safety performance of the vehicle and output the evaluation result. Specifically:

[0085] Obtain the output test results of the system to be tested and determine whether the functional safety of the system to be tested is abnormal; if the functional safety of the system to be tested is abnormal, it is considered that the vehicle safety test has failed; feed back the test results to the host computer to facilitate the test personnel to obtain the test results from the host computer.

[0086] The present invention also provides a whole vehicle safety performance testing and certification system, and the system is used to execute the whole vehicle safety performance testing and certification method.

[0087] The present invention also provides a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the vehicle safety performance testing and certification method.

[0088] In the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. The embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part, and / or installed from a removable medium. When the computer program is executed by the central processing unit (CPU), the above functions defined in the method of the present application are executed. It should be noted that the computer-readable medium mentioned above in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, 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 computer-readable storage media may include, but are not limited to, an electrical connection with one or more wire segments, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, electrical wire, optical cable, RF, etc., or any suitable combination of the foregoing.

[0089] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments. Without departing from the principles, the implementation methods of the present invention may be subject to any changes or modifications.

Claims

1. A vehicle safety performance test and certification method, characterized in that: The method comprises: Step 1: Select a system to be tested, obtain the control logic of the system to be tested, and set a control node between the system to be tested and a corresponding associated system, wherein the system to be tested includes a main system and / or a redundant backup system; Step 2: Identify the signal source characteristics of the system under test, and generate multiple functional processes according to the control logic of the system under test; each of the functional processes includes signal acquisition, signal processing and output of execution signals; Step 3: According to the preset signal injection rules, multiple signal injection points are fixedly or dynamically selected in the functional process, and the test signal is injected into the functional process, including the following steps: Construct signal injection rules, and generate corresponding injection data matrix and selection matrix according to the injection rules; The signal injection rule is that the elements in each row of the injection data matrix are test data of a corresponding signal injection point in a functional process; the test data includes distance data, visual image data, point cloud images, visual image features, point cloud image features and execution signals simulating various road conditions; According to the test content, set the selection matrix and select the signal injection point through the selection matrix; The signal injection point is selected by selecting the matrix, specifically: Constructing the selection matrix ; The product of the injection data matrix and the selection matrix is ​​the injection point data injection matrix; Extracting the row vector of the data injection matrix of the data injection point as the injection data of one functional process or multiple functional processes; According to whether the element value in each row vector is zero, it is judged whether there is data injection at the corresponding injection point; If the value of the data injected by the corresponding signal injection point is zero, it is determined that the signal injection point is not selected; Step 4: Collect the execution signal and determine whether the corresponding functional process can execute the corresponding safety function by analyzing the execution signal; if yes, proceed to the next step; otherwise, adjust the control logic and return to step 1; Step 5: Based on the judgment results of the previous step, evaluate the functional safety performance of the entire vehicle and output the evaluation results.

2. A vehicle safety performance test and certification method according to claim 1, characterized in that: The step of selecting a system to be tested, obtaining the control logic of the system to be tested, and setting a control node between the system to be tested and a corresponding associated system includes the following steps: Select a subsystem from the vehicle auxiliary function system as the system to be tested, wherein the auxiliary function system includes one or more of an automatic emergency braking AEB system, an adaptive cruise control ACC system, and a blind spot monitoring BSM system; Acquire the control logic of the system under test according to the function of the system under test, wherein the control logic includes signal source control logic, fault confirmation logic and execution signal generation logic; Identify the associated system connected to the system under test, select a control node at the connection between the system under test and the associated system, and control the connection or disconnection between the system under test and the associated system by setting a control switch at the control node.

3. A vehicle safety performance test and certification method according to claim 2, characterized in that: The step of identifying the signal source characteristics of the system under test and generating multiple functional processes according to the control logic of the system under test includes the following steps: Acquire an input signal of the system under test, identify characteristics of the input signal, and divide the signal source of the system under test into multiple signal points according to the characteristics of the input signal; According to the control logic, the flow path of the signal point signal is obtained, and the control process is constructed according to the signal propagation path; specifically: According to the signal source control logic, a corresponding signal source is selected, wherein the signal source includes one or more of a sensor, a video device, and a laser radar device; Identify all signal points in the signal source, construct a homogeneous signal point data set, and obtain the number and distribution locations of homogeneous signal points; According to the fault confirmation logic, information of the main controller and / or microcontroller connected to the signal point and information of the actuator connected to the main controller and / or microcontroller are obtained; The signal flow path from each signal point to the corresponding actuator is obtained, and the control process is constructed according to the signal flow path.

4. A vehicle safety performance test and certification method according to claim 3, characterized in that: The method of identifying all signal points in the signal source, constructing a homogeneous signal point data set, and obtaining the number and distribution positions of homogeneous signal points includes the following steps: Obtaining the input signal of each signal point, extracting the characteristics of the input signal of each signal point, classifying all signal points of the signal source by a clustering analysis algorithm, obtaining multiple isomorphic signal point sets, and assigning an identification label one to each signal point in the isomorphic signal point set; Acquire data of each signal point in the isomorphic signal point set to form a isomorphic signal point data sequence; A plurality of isomorphic signal point data sequences constitute a isomorphic signal point data set.

5. A vehicle safety performance test and certification method according to claim 4, characterized in that: The collecting execution signal and determining whether the corresponding functional process can execute the corresponding safety function by analyzing the execution signal include the following steps: After the data in the injection point data injection matrix is ​​injected into the corresponding data injection point; Collect the execution signal output of the corresponding functional process; Determine whether the execution signal is valid. If the execution signal is invalid, determine whether a functional safety failure occurs in the corresponding functional process or multiple functional processes; the functional safety failure includes an unexpected functional failure and an expected functional failure; Collect the execution signal output of the redundant backup system and determine whether the execution signal output of the redundant backup system is normal. If so, it is considered that the main system and the redundant backup system can switch normally and the functional safety of the system under test is normal; otherwise, it is considered that the functional safety of the system under test is abnormal and the test results are output.

6. A vehicle safety performance test and certification method according to claim 5, characterized in that: According to the judgment result of the previous step, the functional safety performance of the whole vehicle is evaluated, including the following steps: Obtain the output test results of the system to be tested and determine whether the functional safety of the system to be tested is abnormal; If the functional safety of the system to be tested is abnormal, the vehicle safety test is considered to have failed; Feedback the test results to the host computer to facilitate testers to obtain the test results from the host computer.

7. A vehicle safety performance test and certification system, characterized in that: The system is used to execute a vehicle safety performance testing and certification method as described in any one of claims 1-6 above.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement a vehicle safety performance testing and certification method as described in any one of claims 1 to 6.

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