C-V2X log-based vehicle infrastructure collaborative scene data analysis method and verification system

Abstract

The invention discloses a C-V2X log-based vehicle-road cooperation scene data analysis method and verification system, and the method comprises the steps: S1, building an EFSM (Extended Finite State Machine) for a to-be-tested operation through employing a formalized framework, and taking the EFSM as a test criterion test oracle; s2, relevant information is extracted from a C-V2X system real-time log and sent to an EFSM model program; and S3, the EFSM performs classification processing on the received C-V2X system information, performs state transition analysis on the received C-V2X system information, and performs test analysis on potential improper behaviors in operation of the C-V2X system. The system is used for implementing the method. The method has the advantages of simple principle, wide application range, simplicity and convenience in operation and the like.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of intelligent vehicle networking, and specifically to a vehicle-road collaborative scenario data analysis method and verification system based on C-V2X log. Background Art

[0002] With the deep integration of the ICT industry with the automotive industry and the transportation industry, the Internet of Vehicles has gradually been recognized as one of the IoT fields with the clearest market demand and the greatest industrial potential in recent years. The development of the Internet of Vehicles industry is conducive to promoting intelligent transportation, realizing autonomous driving, promoting information consumption, and promoting automobile energy conservation and emission reduction. The communication of Internet of Vehicles mainly includes V2V between vehicles, V2I between vehicles and roads, V2P between vehicles and people, V2N between vehicles and networks, etc., which have special and stringent requirements such as low latency and high reliability. Based on the environmental perception, information interaction and collaborative control capabilities provided by V2X communication, Internet of Vehicles supports a variety of application types such as traffic safety, traffic efficiency, autonomous driving, and infotainment, and integrates and develops with intelligent transportation, autonomous driving and other fields. From telematics to vehicle-road collaboration, from single-vehicle intelligence to networked intelligence, the requirements for communication performance are becoming more and more stringent, manifested in lower latency, higher reliability, and higher speed. For example: the message sending frequency ranges from 10Hz for basic safety services to 100Hz for autonomous driving applications, the message size ranges from 300-400Byte to 6000-12000Byte, and the reliability requirement reaches 99.999%.

[0003] Currently, C-V2X is evolving from LTE-V2X to NR-V2X standards. In the future, it will be combined with new technologies such as ultra-large-scale multiple-input multiple-output systems (MIMO Multiple Input Multiple Output), millimeter-wave communication systems, mobile edge computing systems (MEC, Mobile Edge Computing), radar detection, and high-precision positioning.

[0004] To sum up, with the vigorous development of the field of intelligent connected vehicles, technologies and products such as V2X networked communications, autonomous driving, and roadside collaborative perception are becoming increasingly mature. In order to verify the effectiveness and correctness of the scenario application of the vehicle-road collaborative system, a C-V2X scenario verification system is urgently needed. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in response to the technical problems existing in the prior art, the present invention provides a vehicle-road cooperative scenario data analysis method and verification system based on C-V2X logs, which has a simple principle, a wide range of applications, and is easy to operate.

[0006] In order to solve the above technical problems, the technical solution proposed by the present invention is: A vehicle-road cooperative scenario data analysis method based on C-V2X logs, comprising: Step S1: Use a formal framework to establish an extended finite state machine model EFSM for the operation to be tested, and use the state machine as the test criterion test oracle; Step S2: extract relevant information from the C-V2X system real-time log and send it to the EFSM model program; Step S3: The EFSM model classifies and processes the received C-V2X system information, performs state transition analysis respectively, and tests and analyzes potential improper behaviors in the operation of the C-V2X system.

[0007] As a further improvement of the method of the present invention: in the step S1, for the type of C-V2X operation that needs to be tested, a system model, a network layer model, and a message layer model are respectively established, and a linked list of EFSM is saved to represent the EFSM set, and the EFSM linked list is used as the test criterion.

[0008] As a further improvement of the method of the present invention: in the step S2, the system log message pushed by the C-V2X system is received in real time, and the log is first analyzed for legitimacy through the EFSM model to find out whether there is an EFSM in the EFSM list that analyzes the log; if so, the log is sent to it for analysis; if not, a new EFSM needs to be created and the log is sent to it for analysis; As a further improvement of the method of the present invention: in the step S3, according to the operation recorded in the system log, the EFSM performs the corresponding state transition; according to the information provided by the log, detailed error information is given for each state transition error, and based on this information, the cause of the error and the specific location of the error are found.

[0009] As a further improvement of the method of the present invention: when performing log analysis, the C-V2X log information obtained in real time by the data acquisition terminal is transferred to the corresponding state machine processing unit for processing after log syntax analysis; multiple state machines are established for different classification data to process simultaneously, and exit after all logs are processed.

[0010] The present invention further provides a vehicle-road cooperative scenario data analysis and verification system based on C-V2X logs, which includes a V2X data acquisition terminal, a scenario data analysis unit, and a terminal debugging and analysis unit; wherein: The V2X data collection terminal is responsible for collecting vehicle-road cooperative scene data, converting and processing it, and importing the processed data into the scene data analysis unit in an offline manner, while providing online data for terminal debugging and analysis APP; The scene data analysis unit is used to write the data into a database for storage after receiving the data, and analyze relevant scene indicators through a data analysis module; The terminal debugging and analysis unit is responsible for displaying the data transmitted by the V2X data collection terminal in real time during the actual vehicle debugging process, and performing real-time analysis and statistics on the data to verify the relevant indicators of the real-time data.

[0011] As a further improvement of the system of the present invention: the V2X data collected by the on-board unit OBU, when the protocol stack program receives a V2X data packet, the data acquisition module obtains a copy of the data packet; after obtaining the V2X data, it will enter the data preprocessing module to filter out invalid data, and further generate offline data and online data from the original data.

[0012] As a further improvement of the system of the present invention: the data preprocessing module includes a data analysis module based on an extended finite state machine model EFSM, and a formalized framework is used to establish an extended finite state machine model EFSM for the operation to be tested, and the state machine is used as a test oracle; relevant information is extracted from the C-V2X implementation data and sent to the EFSM model program; the EFSM model classifies and processes the received C-V2X system information, and performs state transition analysis respectively, and tests and analyzes potential improper behaviors in the operation of the vehicle-road cooperative scenario.

[0013] As a further improvement of the system of the present invention: the scene data analysis unit includes: Data analysis module, used to receive offline data from OBU and analyze the data; The data storage module uses MySQL database to store offline data obtained from OBU devices, which is then used by WEB applications and desktop applications. According to the properties and characteristics of OBU offline data, a database is established to facilitate data storage and application calls. Data analysis and statistics module, used to analyze and summarize V2X offline data of OBU devices; Display module, used to display OBU offline data in desktop applications.

[0014] As a further improvement of the system of the present invention: the terminal debugging and analysis unit receives online data from the OBU through the WIFI network and completes the analysis; the terminal debugging and analysis unit includes: The data analysis application module is used to receive scenario application data from the OBU device, and then display the data in real time by analyzing the data; and count the number of V2X messages or find the required message data according to different scenarios, analyze the message data in different scenarios, make corresponding judgments, and display them on the interface; The wireless debugging module debugs the OBU device through terminal commands, controls functions such as scene data collection and transmission, and checks the operation status of the OBU device.

[0015] Compared with the prior art, the advantages of the present invention are: The vehicle-road cooperative scene data analysis method and verification system based on C-V2X logs of the present invention has a simple principle, a wide range of applications, and is easy to operate. Through the method and system provided by the present invention, it is possible to perform real-time online and offline analysis through the measured vehicle-road cooperative data, automatically obtain the C-V2X system scene status and make a judgment, and complete the C-V2X scene test verification closed loop. Moreover, the present invention is simple and easy to implement, does not require additional overhead for roadside equipment and cloud background, and adapts to scene tests under various traffic conditions while maintaining normal application of the scene, ensuring the efficiency and accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the process of the method of the present invention in a specific application example.

[0017] Figure 2 It is a flow chart of log analysis in a specific application example of the present invention.

[0018] Figure 3 It is a schematic diagram of the structural principle of the system of the present invention in a specific application example.

[0019] Figure 4 It is a schematic diagram of the data flow direction in a specific application example of the present invention.

[0020] Figure 5 It is a schematic diagram of a scenario in a specific application of the present invention. DETAILED DESCRIPTION

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figure 1 and Figure 5 As shown, the vehicle-road cooperative scenario data analysis method based on C-V2X log of the present invention includes: Step S1: using a formal framework to establish an extended finite state machine model (EFSM) for the operation to be tested, and using the state machine as a test oracle; An extended finite state machine model (EFSM) is built for the C-V2X system operation under test.

[0023] According to actual needs, the present invention can establish a system model, a network layer model, and a message layer model for the type of C-V2X operation that needs to be tested, save a linked list of EFSM to represent the EFSM set, and use the EFSM linked list as a test criterion; Step S2: extract relevant information from the C-V2X system real-time log and send it to the EFSM model program; Receive system log messages pushed by the C-V2X system in real time. First, use the EFSM model to analyze the legitimacy of the log and find out whether there is an EFSM in the EFSM list that can analyze the log. If so, send the log to it for analysis. If not, create a new EFSM and send the log to it for analysis. Step S3: The EFSM model classifies and processes the received C-V2X system information, performs state transition analysis respectively, and tests and analyzes potential improper behaviors in the operation of the C-V2X system.

[0024] According to the operations recorded in the system log, EFSM performs corresponding state transitions.

[0025] According to the information provided by the log, the present invention provides detailed error information for each state conversion error, and based on this information, the cause of the error and the specific location of the error can be accurately found.

[0026] like Figure 2 As shown, it is a flow chart of log analysis. When performing log analysis, the C-V2X log information obtained in real time by the data acquisition terminal is transferred to the corresponding state machine processing unit for processing after log syntax analysis; further, the present invention can establish multiple state machines for simultaneous processing of different classification data, and exit after all logs are processed.

[0027] like Figure 3 As shown, the present invention further provides a vehicle-road cooperative scene data analysis and verification system based on C-V2X logs. The vehicle-road cooperative scene data analysis and verification system consists of three parts: a V2X data acquisition terminal, a scene data analysis unit, and a terminal debugging and analysis APP. Among them: The V2X data collection terminal is responsible for collecting vehicle-road cooperative scene data, converting and processing it, and importing the processed data into the scene data analysis unit in an offline manner, while providing online data for terminal debugging and analysis APP; The scene data analysis unit is used to write the data into the database for storage after receiving the data, and analyze the relevant scene indicators through the data analysis module; further, it can also have the ability to display offline data; The terminal debugging and analysis unit is responsible for displaying the data transmitted by the V2X data collection terminal in real time during the actual vehicle debugging process, and performing real-time analysis and statistics on the data to verify the relevant indicators of the real-time data. The display form is not limited to maps, charts, etc.

[0028] In a specific embodiment, the scene data analysis unit may be directly in the form of analysis software when actually applied.

[0029] In a specific embodiment, the terminal debugging and analysis unit can be directly used in the form of an APP in actual application. The APP can also issue and configure necessary debugging instructions to the data acquisition terminal.

[0030] In a specific embodiment, the core goal of the system design of the present invention is to verify the application of various scenarios of vehicle-road collaboration at the data level. It mainly analyzes and verifies the application conditions and data conditions of more than 20 scenarios in three categories, namely roadside scenarios, road-cloud closure scenarios, and cloud or external support scenarios.

[0031] Since correct and complete data is the basis of everything, the data relied on by the scenario verification system of the present invention comes from the infrastructure in the Internet of Vehicles, such as traffic lights, cameras, etc. Therefore, the scenario verification system of the present invention needs to cooperate well with the roadside unit RSU, obtain the C-V2X log of the system operation, obtain the status-related data of the infrastructure, and analyze the data.

[0032] As a preferred embodiment, the V2X data acquisition terminal in the present invention includes an on-board unit OBU (On Board Unit), the device of the on-board unit OBU is a 32-bit Linux system, and the Linux kernel version is 4.9. The OBU device runs data acquisition and preprocessing embedded software and meets basic data transmission requirements.

[0033] Furthermore, the vehicle-mounted unit OBU of the present invention supports vehicle-side data collection, and the vehicle-side data includes the vehicle's own inherent parameters and data acquired by sensors on the vehicle, such as the current driving speed, the current mileage, the current remaining power (fuel), etc. The vehicle-side data circulates in the vehicle system through the CAN (controller area network) bus in the vehicle. Therefore, the vehicle-mounted unit OBU device has a data interface connected to the CAN bus to obtain vehicle-side data.

[0034] At the same time, the main function of the data acquisition device in the present invention is to collect V2X data and process and forward it. This part of the function is completed by the protocol stack program running on the OBU device.

[0035] In order to allow the scenario verification system to use the V2X data collected by the on-board unit OBU, the present invention further designs the data acquisition module so that it can share data with the protocol stack program.

[0036] Specifically, in the present invention, when the protocol stack program receives a V2X data packet, the data acquisition module can obtain a copy of the data packet. After obtaining the V2X data, it will enter the data preprocessing module. In this module, invalid data will be filtered out, and the original data will be further generated into offline data and online data; The data preprocessing module also includes a data analysis module based on an extended finite state machine (EFSM) model, which uses a formal framework to establish an extended finite state machine (EFSM) model for the operation to be tested and uses the state machine as a test oracle; Relevant information is extracted from the C-V2X implementation data and sent to the EFSM model program; the EFSM model classifies and processes the received C-V2X system information, performs state transition analysis separately, and tests and analyzes potential improper behaviors in the operation of the vehicle-road collaboration scenario.

[0037] In a specific application example, the relevant definition of the EFSM model in the present invention is: The EFSM model m is a six-tuple ; where Q represents the state set; i is the initial state, ; F is the final state set, ; N represents the countable set of reports to be detected; T is the state transition set, and each element t in T is a four-tuple , Indicates the current state, p is the precondition for state transition, that is, the expression related to the variable, which may also be empty. The received report is r. is the state after migration; V is a set of variables, and the variables are associated with the behavior of state migration.

[0038] It can be seen from the above definition that since the present invention introduces the precondition p of state migration, when the extended finite EFSM is in state When r is received and p=true or empty, the state transition will be executed and the state will be transferred to , it can be seen that the state transition is determined by the operation report r and the variable. If there are multiple instances of the event to be tested, a set of EFSMs can process different instances in parallel, and the EFSM set is denoted as M. For the EFSM models in this set , whose state set is , the conversion relationship is .

[0039] As a preferred embodiment, the present invention further includes an offline data processing module, through which the acquired C-V2X logs are stored on the OBU according to different scenarios.

[0040] As a preferred embodiment, the present invention further divides the scenes by folders, and stores the V2X original logs and corresponding timestamp information in JSON files. When it is necessary to copy offline data, all V2X logs can be packaged and copied using a mobile medium such as a USB flash drive. The online data transmission module is responsible for providing an interface for transmitting V2X real-time data. The wireless transmission method used is WIFI transmission. After the mobile phone application establishes a wireless connection with this module program, it can start to transmit the acquired real-time V2X logs to the terminal debugging and analysis APP application.

[0041] In a specific embodiment, the scene data analysis unit receives offline data of the OBU device on the PC side, parses the data, stores it in a database, processes and analyzes the data, and displays the analysis results using a desktop application or a WEB application.

[0042] Further, the scene data analysis unit includes: The data analysis module is used to receive the offline data of the OBU and analyze the data, including: analyzing the format and type of the data, performing basic analysis and statistical data on the data; The data storage module uses MySQL database to store offline data obtained from the OBU device, which is then used by WEB applications and desktop applications. Furthermore, the present invention can also establish a database based on the properties and characteristics of the OBU offline data to facilitate data storage and application calls. The data analysis and statistics module is used to analyze and summarize the V2X offline data of the OBU device, including analyzing the data by scene or vehicle and generating analysis reports, and summarizing the data for analysis to obtain intuitive data statistics; The display module is used to display OBU offline data in desktop applications, including V2X message data display, statistical data display, data analysis result display, etc. Specifically, the corresponding data is obtained from the database in different display modules, the data can be analyzed, and the corresponding analysis results can be generated.

[0043] In a specific embodiment, the terminal debugging and analysis unit receives online data from the OBU via a WIFI network and completes the analysis. The terminal debugging and analysis unit includes: The data analysis application module is used to receive scenario application data from the OBU device, and then display the data in real time by parsing the data. It can also count the number of V2X messages, find the required message data according to different scenarios, analyze the message data in different scenarios, and draw corresponding judgments, which can be displayed on the interface.

[0044] The wireless debugging module debugs the OBU device through terminal commands, controls functions such as scene data collection and transmission, and checks the operation status of the OBU device.

[0045] The display of the data analysis application module includes but is not limited to map base map display, vehicle basic data display, V2X message data display, statistical data display, scene event reminder, abnormal event reminder, APP management background, scene data statistical analysis, APP carrier upgrade, etc. Figure 4 , which is a schematic diagram of the data flow direction in the above-mentioned system of the present invention. Inside the data acquisition terminal, the "offline data storage" and "online data transmission" modules obtain offline data and online data by copying the collected V2X logs. The "data analysis" module of the scene data analysis unit obtains offline data stored on the OBU through mobile media such as USB flash drives. After the data is analyzed, it will be used by the "database", "desktop application" and "WEB application". At the same time, the "desktop application" and "WEB application" will also use the data in the "database". The "data analysis" module of the terminal debugging and analysis unit obtains the online data sent by the OBU through a WIFI wireless connection. After the data is analyzed, it will be used for further processing in the "data analysis application". The "wireless debugging" module is also connected to the OBU device via WIFI.

[0046] Through the above-mentioned method and system of the present invention, it is possible to perform real-time online and offline analysis through the measured vehicle-road cooperative data, automatically obtain and judge the scene status of the C-V2X system, and complete the C-V2X scene test verification closed loop. Moreover, the method is simple and easy to implement, does not require additional overhead for roadside equipment and cloud background, and can adapt to scene tests under various traffic conditions while maintaining normal application of the scene, ensuring the efficiency and accuracy of the test.

[0047] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A vehicle-road cooperative scenario data analysis method based on C-V2X log, characterized in that: include: Step S1: Use a formal framework to establish an extended finite state machine model EFSM for the operation to be tested, and use the state machine as the test criterion test oracle; Step S2: extract relevant information from the C-V2X system real-time log and send it to the EFSM model program; Step S3: The EFSM model classifies and processes the received C-V2X system information, performs state transition analysis respectively, and tests and analyzes potential improper behaviors in the operation of the C-V2X system.

2. The vehicle-road cooperative scenario data analysis method based on C-V2X log according to claim 1, characterized in that: In the step S1, for the C-V2X operation types that need to be tested, a system model, a network layer model, and a message layer model are respectively established, and a linked list of EFSM is saved to represent the EFSM set, and the EFSM linked list is used as the test criterion.

3. The vehicle-road cooperative scenario data analysis method based on C-V2X log according to claim 1, characterized in that: In the step S2, the system log message pushed by the C-V2X system is received in real time. The log is first analyzed for legitimacy through the EFSM model to find out whether there is an EFSM in the EFSM list that analyzes the log; if so, the log is sent to it for analysis; if not, a new EFSM needs to be created and the log is sent to it for analysis.

4. The vehicle-road cooperative scenario data analysis method based on C-V2X log according to claim 1 is characterized in that: In step S3, according to the operation recorded in the system log, the EFSM performs corresponding state transition; according to the information provided by the log, detailed error information is given for each state transition error, and the cause of the error and the specific location of the error are found based on this information.

5. The vehicle-road cooperative scenario data analysis method based on C-V2X log according to any one of claims 1 to 4, characterized in that: When performing log analysis, the C-V2X log information obtained in real time by the data acquisition terminal is transferred to the corresponding state machine processing unit for processing after log syntax analysis; Establish multiple state machines to process different classification data simultaneously, and exit after all logs are processed.

6. A vehicle-road cooperative scenario data analysis and verification system based on C-V2X logs, characterized in that: It includes V2X data collection terminal, scene data analysis unit, terminal debugging and analysis unit; among which: The V2X data collection terminal is responsible for collecting vehicle-road cooperative scene data, converting and processing it, and importing the processed data into the scene data analysis unit in an offline manner, while providing online data for terminal debugging and analysis APP; The scene data analysis unit is used to write the data into a database for storage after receiving the data, and analyze relevant scene indicators through a data analysis module; The terminal debugging and analysis unit is responsible for displaying the data transmitted by the V2X data collection terminal in real time during the actual vehicle debugging process, and performing real-time analysis and statistics on the data to verify the relevant indicators of the real-time data.

7. The vehicle-road cooperative scenario data analysis and verification system based on C-V2X log according to claim 6 is characterized in that: The V2X data is collected by the on-board unit OBU. When the protocol stack program receives a V2X data packet, the data acquisition module obtains a copy of the data packet; after obtaining the V2X data, it will enter the data preprocessing module to filter out invalid data and further generate offline data and online data from the original data.

8. The vehicle-road cooperative scenario data analysis and verification system based on C-V2X log according to claim 7 is characterized in that: The data preprocessing module includes a data analysis module based on an extended finite state machine model EFSM, which uses a formal framework to establish an extended finite state machine model EFSM for the operation to be tested, and uses the state machine as a test criterion testoracle; Relevant information is extracted from the C-V2X implementation data and sent to the EFSM model program; the EFSM model classifies and processes the received C-V2X system information, performs state transition analysis separately, and tests and analyzes potential improper behaviors in the operation of the vehicle-road collaboration scenario.

9. The vehicle-road cooperative scenario data analysis and verification system based on C-V2X log according to any one of claims 6 to 8, characterized in that: The scene data analysis unit comprises: Data analysis module, used to receive offline data from OBU and analyze the data; The data storage module uses MySQL database to store offline data obtained from OBU devices, which is then used by WEB applications and desktop applications. According to the properties and characteristics of OBU offline data, a database is established to facilitate data storage and application calls. Data analysis and statistics module, used to analyze and summarize V2X offline data of OBU devices; Display module, used to display OBU offline data in desktop applications.

10. The vehicle-road cooperative scenario data analysis and verification system based on C-V2X log according to any one of claims 6 to 8, characterized in that: The terminal debugging and analysis unit receives online data from the OBU through the WIFI network and completes the analysis; the terminal debugging and analysis unit includes: The data analysis application module is used to receive scenario application data from the OBU device, and then display the data in real time by analyzing the data; and count the number of V2X messages or find the required message data according to different scenarios, analyze the message data in different scenarios, make corresponding judgments, and display them on the interface; The wireless debugging module debugs the OBU device through terminal commands, controls functions such as scene data collection and transmission, and checks the operation status of the OBU device.

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