HIL simulation automation test method, system and device and storage medium

Abstract

The invention discloses an HIL simulation automation test method, system and device and a storage medium, and the method comprises the steps: building a VTD simulation scene set through VTD software, and storing the VTD simulation scene set in a simulation scene xml file; self-vehicle model parameters are set through Veristand software, and automatic driving function evaluation conditions are set through ECU-TEST software; calling a simulation scene xml file, a vehicle model parameter and an automatic driving function evaluation condition integration automation test script package file through ECU-TEST software; and placing an automatic test script package file under the prj file to realize automatic test. According to the invention, the ECU-TEST calls the VTD simulation scene and sets the vehicle model on the Veriand, so that the test of batch simulation scenes is realized, and the simulation test efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of scenario simulation, and in particular to a HIL simulation automated testing method, system, equipment and storage medium. Background Art

[0002] With the development of autonomous driving cars from L2 to L3 level, more and more testing work is being done on autonomous driving cars, and autonomous driving simulation is a very important part of it. It converts a large amount of autonomous driving real car development and testing costs into computer simulation development and testing, saving a lot of time, labor and material costs.

[0003] At present, the common simulation test method used by OEMs is the hardware-in-the-loop simulation test method based on the HIL bench. Compared with real vehicle testing, HIL simulation testing has the advantages of a wider range of test scenarios, a larger number of test cases, higher test efficiency, and lower test costs. However, conventional HIL simulation testing is to manually operate simulation software such as VTD and Veristand to perform simulation scenario testing, and manually observe the phenomena to draw test conclusions, resulting in low simulation test efficiency and a large consumption of manpower and time costs. Therefore, how to implement batch simulation scenario testing has become an urgent problem to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a HIL simulation automated testing method, system, device and storage medium, aiming to solve the technical problem of how to implement testing of batch simulation scenarios.

[0006] To achieve the above object, the present invention provides a HIL simulation automated testing method, the HIL simulation automated testing method comprising:

[0007] Building a VTD simulation scene set by using VTD software, and saving the VTD simulation scene set into a simulation scene xml file, wherein the VTD simulation scene set includes a plurality of different simulation scenes;

[0008] Set the vehicle model parameters through the Veristand software, and set the autonomous driving function evaluation conditions through the ECU-TEST software;

[0009] Call the simulation scenario xml file, the vehicle model parameters and the automatic driving function evaluation condition integration automated test script package file through the ECU-TEST software;

[0010] Put the automated test script package file under the prj file to implement HIL simulation automated testing.

[0011] Optionally, the step of building a VTD simulation scene set by using VTD software includes:

[0012] Construct a demo simulation road or a simulation high-precision map, and determine the target vehicle trigger distance and the self-vehicle trigger action corresponding to each simulation scene based on the demo simulation road and the simulation high-precision map;

[0013] A VTD simulation scenario set is built through the VTD software according to the target vehicle trigger distance and the self-vehicle trigger action corresponding to each simulation scenario.

[0014] Optionally, the step of building a VTD simulation scene set by using VTD software further includes:

[0015] Determine the self-vehicle delay trigger time and target vehicle teleportation rule corresponding to each simulation scene based on the demo simulation road and the simulation high-precision map;

[0016] A VTD simulation scenario set is built through VTD software according to the delayed trigger time of the ego vehicle and the instantaneous movement rules of the target vehicle corresponding to each simulation scenario.

[0017] Optionally, the step of setting the automatic driving function evaluation conditions through the ECU-TEST software includes:

[0018] Use ECU-TEST software to set the vehicle speed evaluation rules, parameter performance index rules and vehicle speed operation curve diagram;

[0019] The automatic driving function evaluation conditions are determined according to the vehicle speed evaluation rule, the parameter performance index rule and the vehicle speed operation curve diagram.

[0020] Optionally, the step of setting the vehicle speed evaluation rule by using the ECU-TEST software includes:

[0021] Set the vehicle speed threshold range based on ECU-TEST software;

[0022] Determine the Edge(signal,x,y) expression according to the vehicle speed threshold range, where signal is the signal name, x is the minimum speed threshold, and y is the maximum speed threshold;

[0023] According to the Edge (signal, x, y) expression, the vehicle speed evaluation rule is set through the Trigger block module through the ECU-TEST software.

[0024] Optionally, the step of setting parameter performance index rules through ECU-TEST software includes:

[0025] Determine parameter performance functions based on ECU-TEST software;

[0026] The parameter performance function is:

[0027]

[0028] Wherein, duration is duration, restricted is restriction information, False is default unlimited, Derivative(signal) is the first-order derivative of signal name, ()Derivative(speed) is the acceleration of vehicle speed at a point in time, Average(signal) is the average value of signal name in the entire trigger range, MovingMax(signal) is the maximum value of signal, and MovingMin(signal) is the minimum value of signal;

[0029] The parameter performance indicator rules are set through the Calculation module according to the parameter performance function.

[0030] In addition, to achieve the above object, the present invention also proposes a HIL simulation automated testing system, the HIL simulation automated testing system comprising:

[0031] A building module, used for building a VTD simulation scene set through VTD software, and saving the VTD simulation scene set into a simulation scene xml file, wherein the VTD simulation scene set includes multiple simulation scenes;

[0032] The setting module is used to set the parameters of the ego vehicle model through the Veristand software and to set the evaluation conditions of the autonomous driving function through the ECU-TEST software;

[0033] An integration module, used to call the simulation scenario xml file, the vehicle model parameters and the automatic driving function evaluation condition integration automated test script package file through the ECU-TEST software;

[0034] The test module is used to place the automated test script package file under the prj file to implement HIL simulation automated testing.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a HIL simulation automation test device, which includes: a memory, a processor, and a HIL simulation automation test program stored in the memory and executable on the processor, and the HIL simulation automation test program is configured to implement the steps of the HIL simulation automation test method described above.

[0036] In addition, to achieve the above objectives, the present invention also proposes a storage medium, on which a HIL simulation automation test program is stored. When the HIL simulation automation test program is executed by a processor, the steps of the HIL simulation automation test method described above are implemented.

[0037] The present invention firstly builds a VTD simulation scene set through VTD software, saves the VTD simulation scene set into a simulation scene xml file, then sets the vehicle model parameters through Veristand software, sets the automatic driving function evaluation conditions through ECU-TEST software, then calls the simulation scene xml file, vehicle model parameters and automatic driving function evaluation conditions to integrate the automated test script package file through ECU-TEST software, and finally puts the automated test script package file under the prj file to realize HIL simulation automated testing. Compared with the prior art that requires manual simulation testing, the present application builds a VTD simulation scene, builds an ECU-TEST automated test and evaluation script, realizes ECU-TEST's call of the VTD simulation scene, and sets the vehicle model on Veristand, thereby realizing continuous automated testing of a large number of simulation scenes and evaluation of test results, greatly improving the efficiency of simulation testing and saving manpower and time costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural diagram of a HIL simulation automated test device of a hardware operating environment involved in an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the flow chart of the first embodiment of the HIL simulation automated testing method of the present invention;

[0040] Figure 3 A test module flow chart of the first embodiment of the HIL simulation automated test method of the present invention;

[0041] Figure 4 A schematic diagram of a single road with multiple scenarios according to the first embodiment of the HIL simulation automated testing method of the present invention;

[0042] Figure 5 It is a structural block diagram of the first embodiment of the HIL simulation automatic test system of the present invention.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0045] Reference Figure 1 , Figure 1 It is a schematic diagram of the structure of the HIL simulation automated testing equipment of the hardware operating environment involved in the embodiment of the present invention.

[0046] like Figure 1 As shown, the HIL simulation automation test equipment may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage system independent of the aforementioned processor 1001.

[0047] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the HIL simulation automation test equipment, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0048] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a HIL simulation automation test program.

[0049] exist Figure 1In the HIL simulation automation test equipment shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the HIL simulation automation test equipment of the present invention can be set in the HIL simulation automation test equipment, and the HIL simulation automation test equipment calls the HIL simulation automation test program stored in the memory 1005 through the processor 1001, and executes the HIL simulation automation test method provided by the embodiment of the present invention.

[0050] The embodiment of the present invention provides a HIL simulation automation test method, referring to Figure 2 , Figure 2 It is a flowchart of the first embodiment of the HIL simulation automated testing method of the present invention.

[0051] In this embodiment, the HIL simulation automated testing method comprises the following steps:

[0052] Step S10: construct a VTD simulation scene set through VTD software, and save the VTD simulation scene set into a simulation scene xml file, wherein the VTD simulation scene set includes a plurality of different simulation scenes.

[0053] It is easy to understand that the execution subject of this embodiment can be a HIL simulation automation test system with functions such as data processing, network communication and program running, or other computer equipment with similar functions, etc., and this embodiment is not limited.

[0054] It should be noted that the reference Figure 3 , Figure 3 This is a test module flow chart of the first embodiment of the HIL simulation automation test method of the present invention. The simulation scene required for the test is built on the VTD simulation software. The scenes of the automatic driving simulation test include cruising, lane changing, emergency braking, etc. The actions are triggered according to the distance. When the distance between the target vehicle and the self-vehicle just reaches the required distance, acceleration and deceleration, left and right lane changing and other operations are triggered. A single scene is saved in the xml file format after vtd is built. After multiple scenes are built, the xml files are uniformly placed in a directory to facilitate the subsequent ECU-TEST to call the simulation scene.

[0055] Further, a demo simulation road or simulation high-precision map is constructed, and based on the demo simulation road and the simulation high-precision map, the target vehicle trigger distance and the self-vehicle trigger action corresponding to each simulation scene are determined; according to the target vehicle trigger distance and the self-vehicle trigger action corresponding to each simulation scene, a VTD simulation scene set is built through the VTD software. And / or based on the demo simulation road and the simulation high-precision map, the self-vehicle delay trigger time and the target vehicle teleportation rule corresponding to each simulation scene are determined; according to the self-vehicle delay trigger time and the target vehicle teleportation rule corresponding to each simulation scene, a VTD simulation scene set is built through the VTD software.

[0056] In the specific implementation, the detailed steps of building a VTD simulation scene set through VTD software according to the target car trigger distance and the self-car trigger action corresponding to each simulation scene are as follows: prepare a long simulation road, which can be a simulated high-precision map or a self-built demo simulation road, set the self-car at the starting point of the simulation road, assume that the speed is v, the unit is m / s, and the time t required for a scene is s, then the distance traveled by the self-car to complete a scene is s=v*t, on VTD, put the target car in scene 1 at a distance s from the starting point of the simulation road, set the trigger distance and the corresponding trigger action according to the scene requirements, put the target car in scene 2 at a distance 2s from the starting point of the simulation road, set the trigger distance and the corresponding trigger action according to the scene requirements, and so on, the target car in scene n is placed at a distance ns from the starting point of the simulation road, such as Figure 4 As shown, Figure 4 This is a schematic diagram of a single road with multiple scenarios of the first embodiment of the HIL simulation automation test method of the present invention. According to the scenario requirements, the trigger distance and the corresponding trigger action are set. After each scenario is completed, the target vehicle is moved away to avoid affecting the target vehicle of the following scenario. The specific implementation method is to set a trigger with a delay t for the target vehicle. The trigger action is to give it a higher speed so that it can leave immediately after the scene ends or to teleport the target vehicle to a farther place by flashing. By analogy, when the vehicle drives to the location of the nth target vehicle, it indicates the completion of the first n-1 scenarios. This method is to put multiple target vehicles on a road, represent multiple scenarios, save them as an XML file, and ECU-TEST calls an XML file to run the vtd scenario, and after execution, the test of all scenarios is realized.

[0057] It should also be noted that the details of building a VTD simulation scenario set through VTD software according to the delayed trigger time of the ego vehicle and the teleportation rules of the target vehicle corresponding to each simulation scenario are as follows: prepare a long simulation road, which can be a simulated high-precision map or a self-built demo simulation road, set the ego vehicle at the starting point of the simulation road, and the target vehicle at the end of the road. Assuming the simulation road is m kilometers, set the trigger radius of the target vehicle on VTD to m kilometers, and set the delayed trigger time to n seconds. Since the set trigger radius is m kilometers, each time the VTD scenario is called, the target vehicle is already within the trigger range, and the delay of n seconds is aimed at increasing or decreasing the speed of the ego vehicle. It takes time, and these n seconds are for accelerating and decelerating the ego vehicle. For example, the ego vehicle speed in the previous scenario is 60km / h, and the ego vehicle speed in the current scenario needs to be 100km / h, then when calling vtd In the previous scene, the initial speed is 60km / h, and then gradually accelerates to 100km / h, ensuring that the speed is 100km / h in n seconds. When n seconds are reached, the trigger is started to teleport the target car to a specified distance from the ego car. The target car then completes the corresponding trigger action according to the trigger settings of the scene and completes a scene with the ego car. After the scene ends, the next scene is called in sequence to perform the test. The settings related to the next scene are similar. In this way, the ego car will continue to drive forward along the simulated road. As the scenes are called in sequence, the target cars in different scenes will teleport to the specified position near the ego car in sequence until the last scene call is completed. In this way, the call of all scenes is realized. This method is to save a scene as an xml file, and ECU-TEST calls the xml file in sequence to run the vtd scene, and completes the test of all scenes after execution.

[0058] Step S20: Setting the vehicle model parameters through the Veristand software, and setting the automatic driving function evaluation conditions through the ECU-TEST software.

[0059] It should be understood that the vehicle model parameters include the vehicle speed, three-dimensional coordinates (x, y, z) and yaw angle (yaw) on the simulated road, automatic driving mode settings, throttle, brake, gear settings, load settings, etc.

[0060] In the specific implementation, the automated test script is edited in the ECU-TEST test tool interface to call the VTD simulation scene and set the Veristand vehicle parameters. When a single automated test script is completed, multiple automated test scripts are assembled together and executed in sequence to realize the automated test of batch simulation scenes. The Test case module is mainly divided into three parts: Precondition, Test action, and Postcondition. Precondition is the preliminary preparation of the test content. The main editing content is: scene loading, basic settings of vehicle status, including: VTD simulation scene xml file path and name, vehicle speed, three-dimensional coordinates (x, y, z) and yaw angle (yaw) on the simulation road, automatic driving mode settings, throttle and brake gear settings, load settings, etc. Test action is the main setting of the test content, such as lane change scenario, it is necessary to set the turn signal signal in this module, and degradation scenario, it is necessary to set the fault signal in this module. Postcondition is the end setting of the test content, and the main content is: signal recovery in Test action, such as the return of the turn signal, the recovery of the fault signal, etc. The automated test script is saved in .pkg format. The ECU-TEST automated test script first loads the VTD simulation scenario xml file path and name, opens the VTD simulation scenario, then resets the vehicle coordinates, sets the throttle, brake, gear, and load, and finally sets the vehicle to enter the automatic driving mode. It then sets the signal pairs required for the test content, such as turn signals, fault signals, etc., and starts a simulation scenario test process. After the test is completed, the vehicle will be braked and the scene will be closed.

[0061] Furthermore, the processing method for setting the automatic driving function evaluation conditions through the ECU-TEST software is to set the self-vehicle speed evaluation rules, parameter performance index rules and the self-vehicle speed operation curve chart through the ECU-TEST software; and determine the automatic driving function evaluation conditions according to the self-vehicle speed evaluation rules, parameter performance index rules and the self-vehicle speed operation curve chart.

[0062] In this embodiment, the ECU-TEST software is used to call the simulation scenario xml file and vehicle model parameters to implement the test of the simulation scenario. However, in this solution, it is also necessary to evaluate the automated test results of the previous step to determine whether the autonomous driving function passes the test in this simulation scenario. There are many items in the evaluation, such as speed, acceleration, lateral offset, whether there is a collision, instrument prompts, etc. These evaluation contents are derived from the expected results of the simulation scenario. When the test results are consistent with the expected results, the evaluation passes; otherwise, it fails. The ECU-TEST automated evaluation script is written and edited in the trace_alaysis interface. The evaluation of each parameter consists of three parts. The first part is the selection of the evaluation range (i.e., the evaluation rule for the vehicle's own speed), the second part is whether the parameter performance index within the evaluation range meets the standard (i.e., the parameter performance index rule), and the third part is the curve graph (i.e., the running curve graph of the vehicle's own speed).

[0063] It should also be noted that the processing method for setting the evaluation rule for the vehicle's own speed through the ECU-TEST software is to set the threshold range of the vehicle's own speed based on the ECU-TEST software; determine the Edge(signal, x, y) expression according to the threshold range of the vehicle's own speed, where signal is the signal name, x is the minimum speed threshold, and y is the maximum speed threshold; set the evaluation rule for the vehicle's own speed through the Trigger block module according to the Edge(signal, x, y) expression.

[0064] In this embodiment, for the evaluation rule of the vehicle's own speed: taking the scenario where the vehicle follows and brakes to a stop as an example, when the vehicle encounters an obstacle ahead and decelerates from a speed of 60 to 0, and the required deceleration is not greater than 2, then in the first part of the evaluation range, the speed speed is first restricted. Write the expression in the Trigger block module, and the expression is: 0 < speed < 60; under normal circumstances, the expression "value 1 < parameter < value 2" can meet the requirements, but there are other situations that need to be solved with other expressions. For example, when the evaluation range needs to capture the rising and falling edges of the signal, such as when the autonomous driving state jumps from value 4 to 5 and then to 1, if it is necessary to evaluate other signals under the condition of state 5, the rising edge of the signal when jumping from 4 to 5 and the falling edge of the signal when jumping from 5 to 1 need to be captured, and the Edge(signal, value 1, value 2) expression is used to obtain the rising and falling edge signals within the evaluation range.

[0065] Furthermore, the processing method for setting the parameter performance index rule through the ECU-TEST software is to determine the parameter performance function based on the ECU-TEST software; set the parameter performance index rule through the Calculation module according to the parameter performance function.

[0066] The parameter performance function is:

[0067]

[0068]

[0069] Wherein, duration is the duration, restricted is the restriction information, False is the default unlimited, Derivative(signal) is the first-order derivative of the signal name, ()Derivative(speed) is the acceleration of the vehicle speed at the time point, Average(signal) is the average value of the signal name in the entire trigger range, MovingMax(signal) is the maximum value of the signal, and MovingMin(signal) is the minimum value of the signal.

[0070] It should also be noted that Edge(signal,valFrom='*',valTo='*'): checks signal jumps, writes the signal name in signal, writes values ​​in valFrom and valTo to indicate the state value of the signal, and both valFrom and valTo can be given, or only one can be given. If only one signal is given, it means that all jump intervals will be obtained.

[0071] AtLeastOnce(signal,duration,restricted=False): signal is used to write the signal name, duration is used to write the duration, restricted indicates whether it is restricted, the default value is False, and checks whether a signal or condition maintains a certain state at least once in the specified interval. Same as Always, but it is judged at least once.

[0072] Always(signal,duration,restricted=False): signal is used to write the signal name, duration is used to write the duration, and restricted indicates whether it is restricted. This function checks whether a signal or condition always maintains a certain state within a specified interval. For example, Always(speed>35,1.0) checks whether the speed is greater than 35 in the next 1s.

[0073] Derivative(signal): Returns the first derivative of a given signal. signal: Write the signal name, such as checking the acceleration of a vehicle at a certain point in time: ()Derivative(speed).

[0074] Average(signal): write the signal name to signal and return the average value of the given signal in the entire trigger range.

[0075] In this embodiment, for the parameter performance index rule: setting the performance range of the parameter acceleration acc, write an expression in the Calculation module. The expression is: -2 < acc < 0; for the case where the parameter performance index only needs to appear once or can only remain in a certain state to be okay. For example, during the automatic emergency braking process, the voice prompt signal. If its value appears once, it means there is a prompt. Then use the AtLeastOnce(signal, duration) expression, which means that the value of a certain signal must appear at least once within a certain time range to be okay. Among them, the automatic driving state must be maintained at 4, then use the Always(signal, duration) expression, which means that the signal must be at a certain value to be okay; for the operation of the parameter performance index, such as: taking the derivative of the signal, use Derivative(signal), taking the average value of the signal, use Average(signal) expression, taking the maximum and minimum values of the information, use MovingMax(signal), MovingMin(signal).

[0076] For the curve graph: Pull the curve graph. Pull the signal in the Plot graph module, and add the speed and acceleration signals. The curve changes of each parameter during the scene operation will be displayed on the graph. When the actual acceleration value during the scene operation is not greater than 2, the color of the curve graph is green, indicating qualified. When the actual acceleration value during the scene operation is greater than 2, the color of the curve graph is red, indicating unqualified. After the scene operation is completed, ECU-TEST will generate a report. When the parameter performance index is qualified, the evaluation of this item shows success, and the color is green. When the parameter performance index is unqualified, the evaluation of this item shows fail, and the color is red. And so on, the evaluation of other parameters is similar. Thus, the automatic evaluation of one parameter has been completed. The above is the description of the automatic evaluation of one scene. The automatic evaluation of multiple scenes is similar to this.

[0077] Step S30: Call the simulation scenario xml file, the vehicle model parameters, and the automatic driving function evaluation condition integration automatic test script package file through the ECU-TEST software.

[0078] Step S40: Place the automatic test script package file under the prj file to implement the HIL simulation automatic test.

[0079] In the specific implementation, multiple ECU-TEST automated test script package files are integrated and placed under the newly created prj file. The prj file is equivalent to a container that can hold multiple automated test script pkg files for batch automated test evaluation. By running the ECU-TEST test, you can realize the automated testing and evaluation of batch simulation scenarios. After all scenario tests are completed, a summary simulation test report will be generated. The passed use cases in the report will be displayed with green success, and the failed use cases will be displayed with red fail. The performance indicators of all parameters of a single scenario will display success or fail depending on whether they pass or not. The test result of this scenario will display success only when all parameter performance indicators pass. As long as one item fails, the test result of this scenario will display fail. Open the fail signal curve chart, you can analyze the red part of the chart, find out the specific reason for the failure, and finally count the test results of the use case.

[0080] In this embodiment, firstly, a VTD simulation scene set is built through the VTD software, and the VTD simulation scene set is saved in a simulation scene xml file, then the vehicle model parameters are set through the Veristand software, and the automatic driving function evaluation conditions are set through the ECU-TEST software, and then the simulation scene xml file, vehicle model parameters and automatic driving function evaluation conditions are integrated into the automated test script package file through the ECU-TEST software, and finally the automated test script package file is placed under the prj file to realize the HIL simulation automated test. Compared with the manual simulation test required in the prior art, in this embodiment, by building a VTD simulation scene, building an ECU-TEST automated test and evaluation script, ECU-TEST calls the VTD simulation scene, and sets the vehicle model on Veristand, continuous automated testing of a large number of simulation scenes and evaluation of test results are realized, so that the efficiency of simulation testing is greatly improved, saving manpower and time costs.

[0081] Reference Figure 5 , Figure 5 It is a structural block diagram of the first embodiment of the HIL simulation automatic test system of the present invention.

[0082] like Figure 5 As shown, the HIL simulation automation test system proposed in the embodiment of the present invention includes:

[0083] A building module 5001 is used to build a VTD simulation scene set through VTD software, and save the VTD simulation scene set into a simulation scene xml file, wherein the VTD simulation scene set includes multiple simulation scenes;

[0084] The setting module 5002 is used to set the vehicle model parameters through the Veristand software and to set the automatic driving function evaluation conditions through the ECU-TEST software;

[0085] Integration module 5003, used to call the simulation scenario xml file, the vehicle model parameters and the automatic driving function evaluation condition integration automated test script package file through the ECU-TEST software;

[0086] The test module 5004 is used to place the automated test script package file under the prj file to implement HIL simulation automated testing.

[0087] In this embodiment, firstly, a VTD simulation scene set is built through the VTD software, and the VTD simulation scene set is saved in a simulation scene xml file, then the vehicle model parameters are set through the Veristand software, and the automatic driving function evaluation conditions are set through the ECU-TEST software, and then the simulation scene xml file, vehicle model parameters and automatic driving function evaluation conditions are integrated into the automated test script package file through the ECU-TEST software, and finally the automated test script package file is placed under the prj file to realize the HIL simulation automated test. Compared with the manual simulation test required in the prior art, in this embodiment, by building a VTD simulation scene, building an ECU-TEST automated test and evaluation script, ECU-TEST calls the VTD simulation scene, and sets the vehicle model on Veristand, continuous automated testing of a large number of simulation scenes and evaluation of test results are realized, so that the efficiency of simulation testing is greatly improved, saving manpower and time costs.

[0088] Other embodiments or specific implementations of the HIL simulation automatic test system of the present invention can refer to the above-mentioned method embodiments, which will not be described in detail here.

[0089] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0090] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0091] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0092] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A HIL simulation automated testing method, characterized in that: The HIL simulation automated testing method comprises the following steps: Building a VTD simulation scene set by using VTD software, and saving the VTD simulation scene set into a simulation scene xml file, wherein the VTD simulation scene set includes a plurality of different simulation scenes; Set the vehicle model parameters through the Veristand software, and set the autonomous driving function evaluation conditions through the ECU-TEST software; Call the simulation scenario xml file, the vehicle model parameters and the automatic driving function evaluation condition integration automated test script package file through the ECU-TEST software; Put the automated test script package file under the prj file to implement HIL simulation automated testing.

2. The method according to claim 1, characterized in that The steps of building a VTD simulation scene set by using the VTD software include: Construct a demo simulation road or a simulation high-precision map, and determine the target vehicle trigger distance and the self-vehicle trigger action corresponding to each simulation scene based on the demo simulation road and the simulation high-precision map; A VTD simulation scenario set is built through the VTD software according to the target vehicle trigger distance and the self-vehicle trigger action corresponding to each simulation scenario.

3. The method according to claim 2, characterized in that The step of building a VTD simulation scene set through the VTD software also includes: Determine the self-vehicle delay trigger time and target vehicle teleportation rule corresponding to each simulation scene based on the demo simulation road and the simulation high-precision map; A VTD simulation scenario set is built through VTD software according to the delayed trigger time of the ego vehicle and the instantaneous movement rules of the target vehicle corresponding to each simulation scenario.

4. The method according to any one of claims 1 to 3, characterized in that: The step of setting the automatic driving function evaluation conditions through the ECU-TEST software includes: Use ECU-TEST software to set the vehicle speed evaluation rules, parameter performance index rules and vehicle speed operation curve diagram; The automatic driving function evaluation conditions are determined according to the vehicle speed evaluation rule, the parameter performance index rule and the vehicle speed operation curve diagram.

5. The method according to claim 4, characterized in that The step of setting the vehicle speed evaluation rule by the ECU-TEST software includes: Set the vehicle speed threshold range based on ECU-TEST software; Determine the Edge(signal,x,y) expression according to the vehicle speed threshold range, where signal is the signal name, x is the minimum speed threshold, and y is the maximum speed threshold; According to the Edge (signal, x, y) expression, the vehicle speed evaluation rule is set through the Trigger block module through the ECU-TEST software.

6. The method according to claim 5, characterized in that The step of setting parameter performance index rules through ECU-TEST software includes: Determine parameter performance functions based on ECU-TEST software; The parameter performance function is: AtLeastOnce(signal,duration,restricted=False) Always(signal,duration,restricted=False) Derivative(signal) ()Derivative(speed) Average(signal) MovingMax(signal) MovingMin(signal) Wherein, duration is duration, restricted is restriction information, False is default unlimited, Derivative(signal) is the first-order derivative of signal name, ()Derivative(speed) is the acceleration of vehicle speed at a point in time, Average(signal) is the average value of signal name in the entire trigger range, MovingMax(signal) is the maximum value of signal, and MovingMin(signal) is the minimum value of signal; The parameter performance indicator rules are set through the Calculation module according to the parameter performance function.

7. A HIL simulation automated testing system, characterized in that: The HIL simulation automatic test system comprises: A building module, used for building a VTD simulation scene set through VTD software, and saving the VTD simulation scene set into a simulation scene xml file, wherein the VTD simulation scene set includes multiple simulation scenes; The setting module is used to set the parameters of the ego vehicle model through the Veristand software and to set the evaluation conditions of the autonomous driving function through the ECU-TEST software; An integration module, used to call the simulation scenario xml file, the vehicle model parameters and the automatic driving function evaluation condition integration automated test script package file through the ECU-TEST software; The test module is used to place the automated test script package file under the prj file to implement HIL simulation automated testing.

8. A HIL simulation automated testing device, characterized in that: The device comprises: a memory, a processor, and a HIL simulation automation test program stored in the memory and executable on the processor, wherein the HIL simulation automation test program is configured to implement the steps of the HIL simulation automation test method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a HIL simulation automation test program, and when the HIL simulation automation test program is executed by the processor, the steps of the HIL simulation automation test method according to any one of claims 1 to 6 are implemented.

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