Cloud control intelligent driving vehicle in-loop test platform and method

Abstract

The invention discloses a cloud control intelligent driving vehicle in-the-loop test platform and method, and relates to intelligent driving, and the method comprises the steps: building a test scene through a scene simulation module; the dynamics simulation module builds a dynamics model; the traffic flow simulation module builds a virtual traffic environment; the sensor and signal simulation system simulates a sensor function and V2X and GNSS signals; the cloud control basic platform calculates a control instruction; the intelligent network connection controller carries out logic calculation and controls the chassis part to execute a command; the road simulation system assists the tested vehicle in completing action execution; the measurement and control system collects output data of the tested vehicle and evaluates the intelligent networking function and performance. By integrating the road simulation system, the virtual simulation system, the sensor and signal simulation system, the cloud control basic platform, the measurement and control system and the like, the intelligent network connection vehicle can complete various function and performance tests of the whole vehicle in a laboratory, the development period of the whole vehicle is shortened, the test coverage is increased, and the test cost and the safety risk are reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving, and in particular to a cloud-controlled intelligent driving vehicle in-the-loop testing platform and method. Background Art

[0002] With the continuous development of intelligent network technology in the automotive industry, the intelligent driving technology of vehicles is also developing rapidly, and the demand for testing the intelligent driving functions of vehicles is also increasing.

[0003] At present, most manufacturers in the industry use real-car road testing to verify intelligent driving algorithms and network functions, but real-car testing often requires a lot of manpower, material resources, financial resources and a long test cycle, and real-car testing also has limitations such as difficulty in scene reproduction and low coverage of working conditions. It is unable to meet the requirements of vehicle test automation, rapid scene reproduction, extreme working condition testing, vehicle functional safety testing, real-car owner observation evaluation, vehicle-level dynamic testing, and vehicle-level C-V2X (Cellular-Vehicle to Everything, vehicle-based communication technology based on cellular networks) functional testing required for research and development, which brings great challenges to the research and development of vehicle intelligent network technology. Summary of the invention

[0004] The present invention provides a cloud-controlled intelligent driving vehicle in-the-loop testing platform and method, which are used to overcome at least one technical problem existing in the prior art.

[0005] The present invention provides a cloud-controlled intelligent driving vehicle in-the-loop test platform, comprising: a tested vehicle, a road simulation system, a virtual simulation system, a sensor and signal simulation system, a cloud-controlled basic platform and a measurement and control system;

[0006] The vehicle under test actually drives on the road simulation system;

[0007] The virtual simulation system includes a scene simulation module, a dynamics simulation module, a traffic flow simulation module and a real-time computing module; the scene simulation module is used to build a test scene and obtain test scene data; the dynamics simulation module is used to build a dynamics model required by the tested vehicle and obtain dynamics model data; the traffic flow simulation module is used to build a virtual traffic environment around the tested vehicle and obtain virtual traffic environment data; the real-time computing module is used to send the test scene data, the dynamics model data and the virtual traffic environment data to the tested vehicle;

[0008] The sensor and signal simulation system is used to simulate various sensor functions of the vehicle under test according to the test scene data, the dynamic model data and the virtual traffic environment data to obtain a scene target signal; and send the scene target signal to the vehicle under test through the real-time computing module;

[0009] The sensor and signal simulation system is also used to simulate V2X signals and global satellite navigation system GNSS signals, and send them to the cloud control basic platform through the real-time computing module;

[0010] The cloud control basic platform is used to calculate the control instructions for controlling the C-V2X function of the vehicle under test, and send the control instructions to the vehicle under test through air interface transmission;

[0011] The real-time computing module is also used to send the dynamic model data to the road simulation system;

[0012] The vehicle under test includes an intelligent network connection controller, which is used to perform logical calculations, obtain calculation results, and control chassis components to execute commands according to the calculation results; the commands include steering, acceleration, and braking;

[0013] The road simulation system is used to simulate the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement according to the dynamic model data, so as to assist the tested vehicle in completing the execution of steering, acceleration and braking actions;

[0014] The measurement and control system is used to collect output data when the vehicle under test executes commands, and evaluate the intelligent network connection function and performance of the vehicle under test based on the output data.

[0015] Optionally, an environmental simulation system is also included;

[0016] The environmental simulation system is used to simulate a special environment and send the special environment data to the measurement and control system and the vehicle under test.

[0017] Optionally, the special environment includes an environment with different temperatures and a full-spectrum lighting environment.

[0018] Optionally, it also includes a data acquisition system and a recharging system;

[0019] The data acquisition system is used to store the road scene and network signal data collected by the intelligent networked vehicle from the actual road, and send the road scene and network signal data to the real-time computing module through the re-injection system;

[0020] The real-time computing module is also used to send the road scene and network signal data to the vehicle under test.

[0021] Optionally, the scene target signal includes at least a radar target signal and a camera target signal.

[0022] On the other hand, the present invention further provides a testing method for any one of the cloud-controlled intelligent driving vehicle in-the-loop testing platforms, comprising:

[0023] Build a test scenario and obtain test scenario data;

[0024] Build a dynamic model of the vehicle under test and obtain dynamic model data;

[0025] Build a virtual traffic environment around the tested vehicle to obtain virtual traffic environment data;

[0026] The vehicle under test actually drives on the road simulation system;

[0027] Simulating multiple sensor functions of the vehicle under test according to the test scenario data, the dynamic model data and the virtual traffic environment data to obtain a scenario target signal, and sending the scenario target signal to the vehicle under test;

[0028] Simulate V2X signals and GNSS signals, and send them to the cloud control basic platform through the real-time computing module;

[0029] Calculating a control instruction for controlling the C-V2X function of the vehicle under test, and sending the control instruction to the vehicle under test through an air interface transmission mode;

[0030] Performing logical calculations to obtain calculation results, and controlling chassis components to execute commands according to the calculation results; the commands include steering, acceleration, and braking;

[0031] Simulating the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement according to the dynamic model data, so as to assist the tested vehicle in completing the execution of steering, acceleration and braking actions;

[0032] The output data of the tested vehicle when executing the command is collected, and the intelligent network connection function and performance of the tested vehicle are evaluated based on the output data.

[0033] Optionally, a logical calculation is performed, specifically: a logical calculation is performed according to the scene target signal and the control instruction to obtain a calculation result.

[0034] Optionally, it further includes: simulating a special environment, and sending the special environment data to the measurement and control system and the vehicle under test;

[0035] The tested vehicle performs logic calculation, specifically: performs logic calculation according to the special environment, the scene target signal and the control instruction to obtain a calculation result.

[0036] Optionally, it also includes:

[0037] The road scene and network signal data are collected from the actual road, and the road scene and network signal data are sent to the vehicle under test using the real-time computing module.

[0038] Optionally, perform a logical calculation, specifically:

[0039] A logical calculation is performed based on the road scene, the network signal data and the control instruction to obtain a calculation result.

[0040] The innovative features of the embodiments of the present invention include:

[0041] 1. In this embodiment, by integrating external equipment such as a road simulation system, a virtual simulation system, a sensor and signal simulation system, a cloud control basic platform, and a measurement and control system, the intelligent connected vehicle can complete various function and performance tests of the whole vehicle in the laboratory, greatly shortening the vehicle development cycle, increasing test coverage, and reducing the actual vehicle testing cost and safety risks. This is one of the innovations of the embodiment of the present invention.

[0042] 2. In this embodiment, by completing various function and performance tests of the whole vehicle in the laboratory, the automation of testing, rapid scene reproduction, extreme working condition testing, whole vehicle functional safety testing, real vehicle owner observation and evaluation, whole vehicle-level dynamic testing, and whole vehicle-level C-V2X function testing are realized, which solves the shortcomings of field testing and road testing technologies such as high cost, long cycle, difficulty in scene reproduction, and low working condition coverage, which is one of the innovations of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic diagram of the structure of a test platform provided by an embodiment of the present invention;

[0045] Figure 2 Another structural schematic diagram of a test platform provided by an embodiment of the present invention;

[0046] Figure 3 A schematic diagram of another structure of a test platform provided by an embodiment of the present invention;

[0047] Figure 4 A flow chart of a testing method provided by an embodiment of the present invention;

[0048] Figure 5Another flow chart of the testing method provided by the embodiment of the present invention;

[0049] Figure 6 Another flow chart of the testing method provided by the embodiment of the present invention. DETAILED DESCRIPTION

[0050] 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 are within the scope of protection of the present invention.

[0051] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0052] The embodiment of the present invention discloses a cloud-controlled intelligent driving vehicle in-the-loop test platform design method, which is described in detail below.

[0053] Figure 1 For a schematic diagram of a test platform provided in an embodiment of the present invention, please refer to Figure 1 The cloud-controlled intelligent driving vehicle in-the-loop test platform provided by the embodiment of the present invention includes: a vehicle under test, a road simulation system, a virtual simulation system, a sensor and signal simulation system, a cloud-controlled basic platform and a measurement and control system;

[0054] The vehicle under test actually drives on the road simulation system;

[0055] The virtual simulation system includes a scene simulation module, a dynamics simulation module, a traffic flow simulation module and a real-time computing module; the scene simulation module is used to build a test scene and obtain test scene data; the dynamics simulation module is used to build a dynamics model required by the tested vehicle and obtain dynamics model data; the traffic flow simulation module is used to build a virtual traffic environment around the tested vehicle and obtain virtual traffic environment data; the real-time computing module is used to send the test scene data, dynamics model data and virtual traffic environment data to the tested vehicle;

[0056] The sensor and signal simulation system is used to simulate various sensor functions of the vehicle under test according to the test scene data, dynamic model data and virtual traffic environment data, and obtain the scene target signal; and send the scene target signal to the vehicle under test through the real-time computing module;

[0057] The sensor and signal simulation system is also used to simulate V2X signals and GNSS signals, and send them to the cloud control basic platform through the real-time computing module;

[0058] The cloud control basic platform is used to calculate the control instructions for controlling the C-V2X function of the vehicle under test, and send the control instructions to the vehicle under test through air interface transmission;

[0059] The real-time computing module is also used to send the dynamic model data to the road simulation system;

[0060] The vehicle under test includes an intelligent network controller, which is used to perform logical calculations, obtain calculation results, and control chassis components to execute commands based on the calculation results; the commands include steering, acceleration, and braking;

[0061] The road simulation system is used to simulate the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement according to the dynamic model data, and assist the tested vehicle in completing the execution of steering, acceleration and braking actions;

[0062] The measurement and control system is used to collect the output data when the vehicle under test executes commands, and evaluate the intelligent network connection functions and performance of the vehicle under test based on the output data.

[0063] Specifically, please refer to Figure 1 The cloud-controlled intelligent driving vehicle in-the-loop test platform provided by an embodiment of the present invention includes a vehicle under test and a road simulation system, and the vehicle under test can actually drive on the road simulation system.

[0064] The test platform also includes a virtual simulation system for simulation. The virtual simulation system specifically includes a scene simulation module, a dynamics simulation module, and a traffic flow simulation module. The scene simulation module can be used to build a variety of different test scenes and obtain test scene data corresponding to each test scene; the dynamics simulation module is used to build the dynamics model required by the tested vehicle, thereby obtaining dynamics model data; the traffic flow simulation module is used to build a virtual traffic environment around the tested vehicle, thereby obtaining virtual traffic environment data.

[0065] The virtual simulation system also includes a real-time computing module, which realizes data interaction between the virtual simulation system and other systems in the test platform. For example, the real-time computing module can be used to send the simulated test scene data, dynamic model data and virtual traffic environment data to the tested vehicle, sensor and signal simulation system and cloud control basic platform respectively.

[0066] During the vehicle evaluation process, it is necessary to collect scene target signals. Based on this, the test platform provided by the present invention also includes a sensor and signal simulation system. The sensor and signal simulation system simulates the various sensor functions of the vehicle under test according to the test scene data, dynamic model data and virtual traffic environment data sent by the virtual simulation system, thereby obtaining scene target signals, such as radar target signals, camera target signals and other sensor signals. The sensor and signal simulation system and the vehicle under test exchange data through a real-time computing module. Therefore, after obtaining the scene target signal, it is necessary to use the real-time computing module to send the scene target signal to the vehicle under test so that it can be used when the vehicle under test performs logical calculations.

[0067] In addition, in order to control the C-V2X function of the vehicle under test, the sensor and signal simulation system also needs to simulate V2X (Vehicle-to-Everything, vehicle-mounted communication technology) signals and GNSS (Global Navigation Satellite System, global satellite navigation system) signals. Among them, V2X signal simulation can obtain the PC5 (Proximity Services 5, a technology for direct communication between devices) signals and Uu (User to Network Interface, Universal, universal user network interface) signals required by C-V2X. After obtaining the above signals, they are sent to the cloud control basic platform through the real-time computing module.

[0068] After the cloud control basic platform receives all the signals sent by the real-time computing module, it can calculate the control instructions for controlling the C-V2X function of the vehicle under test that are suitable for the current environment based on the received test scenario data, V2X signals, global satellite navigation system GNSS signals, dynamic model data and virtual traffic environment data. After obtaining the control instructions, the control instructions are sent to the vehicle under test through air interface transmission, thereby realizing the control of the C-V2X function of the vehicle under test.

[0069] In the present invention, the tested vehicle includes an intelligent network controller. When the tested vehicle receives the signal sent by the real-time computing module and the cloud control basic platform, the intelligent network controller is used to perform logical calculations to obtain calculation results. After obtaining the calculation results, the chassis components can be controlled according to the calculation results, so that the chassis components execute commands such as steering, acceleration, braking, and warning pop-up windows.

[0070] When the vehicle under test is actually driving on the road simulation system, the road simulation system can accurately simulate the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement. Therefore, when the chassis components execute commands, the road simulation system is needed to assist the vehicle under test in completing the steering, acceleration, and braking actions. The road simulation system's simulation of the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement is related to the vehicle's dynamic model. Therefore, when the dynamic model is built, the dynamic model data must be sent to the road simulation system through the real-time computing module. In this way, the road simulation system can simulate the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement according to the received dynamic model data, thereby assisting the vehicle under test in completing the steering, acceleration, and braking actions.

[0071] The test platform provided by the present invention also includes a measurement and control system. When the tested vehicle executes the command according to the calculation result, it will output corresponding data, and the output data can be used for the evaluation of the tested vehicle. Therefore, when the tested vehicle executes the command, it is necessary to use the measurement and control system to collect the output data of the tested vehicle when executing the command, and then evaluate the intelligent network function and performance of the tested vehicle according to the output data to complete the closed-loop automated test of the intelligent networked vehicle.

[0072] The cloud-controlled intelligent driving vehicle in-loop test platform provided by the present invention integrates external equipment such as road simulation system, virtual simulation system, sensor and signal simulation system, cloud control basic platform and measurement and control system, so that intelligent networked vehicles can complete various functions and performance tests of the whole vehicle in the laboratory, greatly shortening the whole vehicle development cycle, increasing test coverage, and reducing the cost and safety risks of real vehicle testing. In addition, by completing various functions and performance tests of the whole vehicle in the laboratory, the automation of testing, rapid scene reproduction, extreme working condition testing, whole vehicle functional safety testing, real vehicle owner observation evaluation, whole vehicle level dynamic testing, and whole vehicle level C-V2X function testing are realized, solving the shortcomings of field testing and road testing technologies such as high cost, long cycle, difficult scene reproduction, and low working condition coverage.

[0073] Optionally, Figure 2 For another structural diagram of the test platform provided by the embodiment of the present invention, please refer to Figure 2 The cloud-controlled intelligent driving vehicle in-the-loop test platform provided in this embodiment also includes an environmental simulation system; the environmental simulation system is used to simulate a special environment and send special environment data to the measurement and control system and the vehicle under test.

[0074] Specifically, please refer to Figure 2In this embodiment, an environmental simulation system is also provided around the vehicle under test. When the vehicle performance under special environment needs to be evaluated, the environmental simulation system can be used to provide the vehicle under test with necessary test environment, such as environment with different temperatures (high temperature, low temperature, etc.) or full spectrum lighting environment. At the same time, the simulated special environment data is sent to the measurement and control system and the vehicle under test, so that the vehicle performance evaluation under special environment can be completed.

[0075] Optionally, Figure 3 For another structural diagram of the test platform provided by the embodiment of the present invention, please refer to Figure 3 The cloud-controlled intelligent driving vehicle in-loop test platform provided in this embodiment also includes a data acquisition system and a re-injection system; the data acquisition system is used to store the road scene and network signal data collected by the intelligent networked vehicle from the actual road, and send the road scene and network signal data to the real-time computing module through the re-injection system; the real-time computing module is also used to send the road scene and network signal data to the vehicle under test.

[0076] Specifically, please refer to Figure 3 In order to realize the evaluation of the collected real vehicle data, a data acquisition system and a recharging system are also provided in this embodiment. The data acquisition system is a data storage platform that can store the road scene and network signal data collected by the intelligent networked vehicle from the actual road. At the same time, the road scene and network signal data are sent to the real-time computing module through the recharging system. After receiving the road scene and network signal data sent by the recharging system, the real-time computing module sends it to the tested vehicle and the cloud control basic platform.

[0077] The cloud control basic platform calculates control instructions based on the received road scene and network signal data, and sends the calculated control instructions to the vehicle under test. The vehicle under test performs logical calculations based on all the received data, and controls the chassis to execute acceleration, steering and other commands based on the calculation results. It should be noted that here, logical calculations are performed based on road scenes, network signal data and control instructions.

[0078] When the vehicle under test executes a command, the measurement and control system collects the corresponding output data, and then evaluates the intelligent network connection function and performance of the vehicle under test based on the output data. In this way, the test cycle can be effectively shortened, the efficiency of vehicle testing can be effectively improved, and the research and development cycle of the vehicle's intelligent network connection function can be shortened.

[0079] Based on the same inventive concept, the present invention also provides a cloud-controlled intelligent driving vehicle in-the-loop testing method. Figure 4 For a flow chart of the test method provided by the embodiment of the present invention, please refer to Figure 1 and Figure 4 , the testing method of the cloud-controlled intelligent driving vehicle in-the-loop testing platform provided by the embodiment of the present invention includes:

[0080] Step 1: Build a test scenario and obtain test scenario data;

[0081] Step 2: Build a dynamic model of the vehicle under test and obtain dynamic model data;

[0082] Step 3: Build a virtual traffic environment around the vehicle under test and obtain virtual traffic environment data;

[0083] Step 4: The vehicle under test actually drives on the road simulation system;

[0084] Step 5: Simulate various sensor functions of the vehicle under test according to the test scenario data, dynamic model data and virtual traffic environment data, obtain scenario target signals, and send the scenario target signals to the vehicle under test;

[0085] Step 6: Simulate V2X signals and GNSS signals, and send them to the cloud control basic platform through the real-time computing module;

[0086] Step 7: Calculate the control command for controlling the C-V2X function of the vehicle under test, and send the control command to the vehicle under test through air interface transmission;

[0087] Step 8: Perform logical calculations to obtain calculation results, and control chassis components to execute commands based on the calculation results; the commands include steering, acceleration, and braking;

[0088] Step 9: Simulate the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement according to the dynamic model data, and assist the tested vehicle in completing the steering, acceleration and braking actions;

[0089] Step 10: Collect the output data of the vehicle under test when executing the command, and evaluate the intelligent network connection function and performance of the vehicle under test based on the output data.

[0090] Specifically, please refer to Figure 1 and Figure 4 The cloud-controlled intelligent driving vehicle in-loop testing method provided by the embodiment of the present invention needs to use the test platform for simulation testing. Therefore, firstly, through step 1, a test scene is built to obtain test scene data corresponding to the current test scene. It should be noted that when building the test scene here, the corresponding test scene can be built according to the specific environmental conditions to meet the test requirements.

[0091] In step 2, a dynamic model of the vehicle under test is built to obtain dynamic model data. In step 3, a virtual traffic environment around the vehicle under test is built to obtain virtual traffic environment data. It should be noted that the above steps 1, 2 and 3 are only for illustrating the need to build the test scene, the vehicle's dynamic model and the virtual traffic environment respectively, and do not represent the specific execution order.

[0092] In step 4, the vehicle under test actually drives on the road simulation system. During the vehicle evaluation process, it is necessary to collect scene target signals. Based on this, in step 5, the present invention uses a sensor and signal simulation system to simulate various sensor functions of the vehicle under test according to the test scene data, dynamic model data and virtual traffic environment data obtained by simulation, so as to obtain scene target signals, such as radar target signals, camera target signals and other sensor signals. The sensor and signal simulation system and the vehicle under test exchange data through a real-time computing module. Therefore, after obtaining the scene target signal, it is necessary to use the real-time computing module to send the scene target signal to the vehicle under test so that it can be used when the vehicle under test performs logical calculations.

[0093] In order to realize the control of the C-V2X function of the vehicle under test, the present invention simulates the V2X signal and the global satellite navigation system GNSS signal through step 6, wherein the V2X signal simulation can obtain the PC5 (Proximity Services 5, a technology for direct communication between devices) signal and Uu signal required by C-V2X. After obtaining the above signals, they are sent to the cloud control basic platform through the real-time computing module.

[0094] After the cloud control basic platform receives all the signals sent by the real-time computing module, in step 7, it calculates the control instructions for controlling the C-V2X function of the vehicle under test that are suitable for the current environment based on the received data. After obtaining the control instructions, the control instructions are sent to the vehicle under test through air interface transmission, thereby realizing the control of the C-V2X function of the vehicle under test.

[0095] Here, it should be noted that when the cloud control basic platform calculates the control instructions, it is calculated based on the signal sent by the real-time operation module. When the cloud control basic platform receives simulation data such as test scenario data, V2X signals, global satellite navigation system GNSS signals, dynamic model data and virtual traffic environment, the control instructions are calculated based on the test scenario data, V2X signals, global satellite navigation system GNSS signals, dynamic model data and virtual traffic environment. When the cloud control basic platform receives real-time collected road scenes and network signal data, the control instructions are calculated based on the road scenes and network signal data.

[0096] After the vehicle under test receives the signal sent by the real-time computing module and the cloud control basic platform, it performs logical calculations through step 8 to obtain calculation results. It should be noted that the logical calculations are implemented through the intelligent network controller in the vehicle under test.

[0097] In addition, when performing logical calculations, the calculations are performed based on the signals received from the real-time operation module. For example, when the real-time operation module sends the scene target signal obtained by sensor simulation, the scene target signal and control instructions are used for calculations; and when the real-time operation module sends the road scene and network signal data obtained by actual sampling, the logical calculations are performed based on the road scene and network signal data and control instructions. After obtaining the calculation results, the chassis components can be controlled according to the calculation results, so that the chassis components execute commands such as steering, acceleration, braking, and warning pop-up windows.

[0098] When the vehicle under test is actually driving on the road simulation system, the road simulation system can accurately simulate the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement. Therefore, when the chassis components execute commands, the road simulation system is needed to assist the vehicle under test in completing the execution of steering, acceleration, and braking actions. Based on this, the present invention simulates the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement through step 9. The road simulation system simulates the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement, which is related to the dynamic model of the vehicle. Therefore, when the dynamic model is built, the dynamic model data must be sent to the road simulation system through the real-time calculation module. In this way, the road simulation system can simulate the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement according to the received dynamic model data, thereby assisting the vehicle under test in completing the execution of steering, acceleration, and braking actions.

[0099] When the vehicle under test executes the command according to the calculation result, the corresponding output data will be used for the evaluation of the vehicle under test. Therefore, when the vehicle under test executes the command, the output data of the vehicle under test when executing the command is collected through step 10, and then the intelligent network function and performance of the vehicle under test are evaluated based on the output data. In this way, the test cycle can be effectively shortened, the efficiency of vehicle testing can be effectively improved, and the research and development cycle of the vehicle's intelligent network function can be shortened.

[0100] The cloud-controlled intelligent driving vehicle in-loop test platform provided by the present invention integrates external equipment such as road simulation system, virtual simulation system, sensor and signal simulation system, cloud control basic platform and measurement and control system, so that intelligent networked vehicles can complete various functions and performance tests of the whole vehicle in the laboratory, greatly shortening the whole vehicle development cycle, increasing test coverage, and reducing the cost and safety risks of real vehicle testing. In addition, by completing various functions and performance tests of the whole vehicle in the laboratory, the automation of testing, rapid scene reproduction, extreme working condition testing, whole vehicle functional safety testing, real vehicle owner observation evaluation, whole vehicle level dynamic testing, and whole vehicle level C-V2X function testing are realized, solving the shortcomings of field testing and road testing technologies such as high cost, long cycle, difficult scene reproduction, and low working condition coverage.

[0101] Optionally, Figure 5 For another flow chart of the test method provided by the embodiment of the present invention, please refer to Figure 2 and Figure 5 , further comprising: step 71, simulating a special environment, and sending special environment data to the measurement and control system and the vehicle under test; performing logical calculations, specifically: performing logical calculations according to the special environment, scene target signals and control instructions to obtain calculation results.

[0102] Specifically, please refer to Figure 2 and Figure 5 In this embodiment, a special environment is simulated in the periphery of the tested vehicle through step 5, thereby providing the tested vehicle with a necessary test environment to meet the vehicle performance evaluation under a special environment. The special environment may be, for example, an environment with different temperatures (high temperature, low temperature, etc.) or a full-spectrum lighting environment. At the same time, the simulated environment is simulated in this way, and the vehicle performance evaluation under a special environment can be completed.

[0103] When the vehicle is in a special environment, the impact of special environment data needs to be considered when performing logical calculations. Therefore, the special environment data needs to be sent to the measurement and control system and the vehicle under test at the same time. The vehicle under test performs logical calculations based on the received special environment data, scene target signals and control instructions to obtain calculation results. The measurement and control system then evaluates the intelligent network function and performance of the vehicle under test based on the special environment data and the output data when the vehicle under test executes the command, completing the closed-loop automated test of the intelligent network vehicle.

[0104] Optionally, Figure 6 For another flow chart of the test method provided by the embodiment of the present invention, please refer to Figure 3 and Figure 6, further comprising: step 61, collecting road scenes and network signal data from actual roads, and sending the road scenes and network signal data to the tested vehicle using a real-time computing module. Performing logical calculations, specifically: performing logical calculations according to the road scenes and network signal data and control instructions to obtain calculation results.

[0105] Specifically, please refer to Figure 3 and Figure 6 In addition to obtaining test data by simulation, test data can also be obtained by actual acquisition. In this embodiment, through step 61, road scene and network signal data are collected from the actual road, and the road scene and network signal data collected by the intelligent networked vehicle from the actual road are stored in the data acquisition platform. At the same time, the road scene and network signal data are sent to the real-time computing module through the recharging system. After the real-time computing module receives the road scene and network signal data sent by the recharging system, it sends it to the vehicle under test and the cloud control basic platform.

[0106] The cloud control basic platform calculates control instructions based on the received road scene and network signal data, and sends the calculated control instructions to the vehicle under test. The vehicle under test performs logical calculations based on all the data received from the real-time computing module and the pre-control basic platform, namely the road scene and network signal data and control instructions, and controls the chassis to execute acceleration, steering and other commands based on the calculation results.

[0107] When the vehicle under test executes a command, the measurement and control system collects the corresponding output data, and then evaluates the intelligent network connection function and performance of the vehicle under test based on the output data. In this way, the test cycle can be effectively shortened, the efficiency of vehicle testing can be effectively improved, and the research and development cycle of the vehicle's intelligent network connection function can be shortened.

[0108] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0109] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cloud-controlled intelligent driving vehicle in-the-loop test platform, characterized in that: include: Tested vehicle, road simulation system, virtual simulation system, sensor and signal simulation system, cloud control basic platform and measurement and control system; The vehicle under test actually drives on the road simulation system; The virtual simulation system includes a scene simulation module, a dynamics simulation module, a traffic flow simulation module and a real-time computing module; The scenario simulation module is used to build a test scenario and obtain test scenario data; the dynamics simulation module is used to build a dynamics model required by the tested vehicle and obtain dynamics model data; the traffic flow simulation module is used to build a virtual traffic environment around the tested vehicle and obtain virtual traffic environment data; the real-time computing module is used to send the test scenario data, the dynamics model data and the virtual traffic environment data to the tested vehicle; The sensor and signal simulation system is used to simulate various sensor functions of the vehicle under test according to the test scene data, the dynamic model data and the virtual traffic environment data to obtain a scene target signal; and send the scene target signal to the vehicle under test through the real-time computing module; The sensor and signal simulation system is also used to simulate V2X signals and global satellite navigation system GNSS signals, and send them to the cloud control basic platform through the real-time computing module; The cloud control basic platform is used to calculate the control instructions for controlling the C-V2X function of the vehicle under test, and send the control instructions to the vehicle under test through air interface transmission; The real-time computing module is also used to send the dynamic model data to the road simulation system; The vehicle under test includes an intelligent network connection controller, which is used to perform logical calculations, obtain calculation results, and control chassis components to execute commands according to the calculation results; the commands include steering, acceleration, and braking; The road simulation system is used to simulate the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement according to the dynamic model data, so as to assist the tested vehicle in completing the execution of steering, acceleration and braking actions; The measurement and control system is used to collect output data when the vehicle under test executes commands, and evaluate the intelligent network connection function and performance of the vehicle under test based on the output data.

2. The cloud-controlled intelligent driving vehicle in-the-loop test platform according to claim 1 is characterized in that: It also includes an environmental simulation system; The environmental simulation system is used to simulate a special environment and send the special environment data to the measurement and control system and the vehicle under test.

3. The cloud-controlled intelligent driving vehicle in-the-loop test platform according to claim 2 is characterized in that: The special environments include environments with different temperatures and full-spectrum lighting environments.

4. The cloud-controlled intelligent driving vehicle in-the-loop test platform according to claim 1 is characterized in that: It also includes data acquisition system and recharging system; The data acquisition system is used to store the road scene and network signal data collected by the intelligent networked vehicle from the actual road, and send the road scene and network signal data to the real-time computing module through the re-injection system; The real-time computing module is also used to send the road scene and network signal data to the vehicle under test.

5. The cloud-controlled intelligent driving vehicle in-the-loop test platform according to claim 1 is characterized in that: The scene target signal includes at least a radar target signal and a camera target signal.

6. A test method for the cloud-controlled intelligent driving vehicle in-the-loop test platform according to any one of claims 1 to 5, characterized in that: include: Build a test scenario and obtain test scenario data; Build a dynamic model of the vehicle under test and obtain dynamic model data; Build a virtual traffic environment around the tested vehicle to obtain virtual traffic environment data; The vehicle under test actually drives on the road simulation system; Simulating multiple sensor functions of the vehicle under test according to the test scenario data, the dynamic model data and the virtual traffic environment data to obtain a scenario target signal, and sending the scenario target signal to the vehicle under test; Simulate V2X signals and GNSS signals, and send them to the cloud control basic platform through the real-time computing module; Calculating a control instruction for controlling the C-V2X function of the vehicle under test, and sending the control instruction to the vehicle under test through an air interface transmission mode; Performing logical calculations to obtain calculation results, and controlling chassis components to execute commands according to the calculation results; the commands include steering, acceleration, and braking; Simulating the road resistance required for the longitudinal movement of the vehicle and the steering resistance required for the lateral movement according to the dynamic model data, so as to assist the tested vehicle in completing the execution of steering, acceleration and braking actions; The output data of the tested vehicle when executing the command is collected, and the intelligent network connection function and performance of the tested vehicle are evaluated based on the output data.

7. The cloud-controlled intelligent driving vehicle in-the-loop testing method according to claim 6 is characterized in that: Performing logic calculation, specifically: performing logic calculation according to the scene target signal and the control instruction to obtain a calculation result.

8. The cloud-controlled intelligent driving vehicle in-the-loop testing method according to claim 7 is characterized in that: Also includes: Simulating a special environment, and sending the special environment data to the measurement and control system and the vehicle under test; The tested vehicle performs logic calculation, specifically: performs logic calculation according to the special environment, the scene target signal and the control instruction to obtain a calculation result.

9. The cloud-controlled intelligent driving vehicle in-the-loop testing method according to claim 6 is characterized in that: Also includes: The road scene and network signal data are collected from the actual road, and the road scene and network signal data are sent to the vehicle under test using the real-time computing module.

10. The cloud-controlled intelligent driving vehicle in-the-loop testing method according to claim 9 is characterized in that: Perform logical calculations, specifically: A logical calculation is performed based on the road scene, the network signal data and the control instruction to obtain a calculation result.

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