Parking function simulation test method and system

Abstract

The invention discloses a simulation test method and system for a parking function. The method comprises the following steps: respectively deploying an automobile virtual test simulation platform, a Simulink model and a test code; selecting a required parking test scene from the automobile virtual test simulation platform, and providing parking test scene parameters; reading environment information and vehicle position information by using the test code; a Simulink model is used for reading an interaction control instruction and vehicle body dynamics information; the test code and the Simulink model perform information interaction and cooperative control according to the environment information, the vehicle position information, the interaction control instruction and the vehicle body dynamics information; and the Simulink model generates a parking control instruction and sends the parking control instruction to the automobile virtual test simulation platform so as to realize a closed-loop test of the parking function according to the test case. According to the invention, information interaction and cooperative control can be carried out on the test code and the Simulink model, and the actual parking process can be simulated more accurately.

Description

Technical Field

[0001] The present application relates to the field of simulation testing technology, and specifically to a simulation testing method and system for a parking function. Background Art

[0002] At present, the testing method for parking functions mainly relies on real vehicle testing. The compiled algorithm is flashed into the hardware ECU and directly installed on the real vehicle for testing. This method has limited testing scenarios and can only find fixed parking spaces (parking lots, basements, roadside parking spaces) for testing. Some parking obstacles, irregular parking spaces, lane line wear and tear, etc. cannot be tested as required, and the internal software demand testing cannot be fully covered. At the same time, the efficiency of real vehicle testing in problem repair is relatively low.

[0003] Traditional automotive software builds model algorithms based on Simulink, and then compiles them into C code and writes them into the controller. With the development of automotive software, more and more suppliers are beginning to use C / C++ to develop automotive software, especially in the perception and integration of intelligent driving. C / C++ is more widely used to write algorithms. At the same time, planning and control based on model development are already relatively mature, so source code in-the-loop testing is needed to combine the two. Traditional model-in-the-loop testing or software-in-the-loop testing is based on pure model testing or pure software testing, and it is impossible to perform in-the-loop testing on the combination of code and model. Summary of the invention

[0004] The technical purpose of this application is to combine the currently impossible development of automotive software using C / C++ with the development of traditional automotive software based on Simulink model building, and to provide a simulation test method and system for parking functions.

[0005] In order to achieve the above technical objectives, this application adopts the following technical solutions.

[0006] In a first aspect, an embodiment of the present application provides a simulation test method for a parking function, comprising: Deploy the automotive virtual test simulation platform, Simulink model, and test code respectively; Selecting a required parking test scenario from the automobile virtual test simulation platform, wherein the parking test scenario provides parking test scenario parameters, and the parking test scenario parameters include environmental information, vehicle position information, and vehicle body dynamics information; The test code is used to read the environmental information and the vehicle position information; the Simulink model is used to read the interactive control instructions and the vehicle body dynamics information; the test code and the Simulink model perform information interaction and collaborative control according to the environmental information and the vehicle position information as well as the interactive control instructions and the vehicle body dynamics information respectively; the Simulink model generates a parking control instruction and sends it to the automobile virtual test simulation platform; the automobile virtual test simulation platform is used to implement a closed-loop test of the parking function according to the test case and the parking control instruction.

[0007] Furthermore, the method also includes: comparing the actual closed-loop test result with the expected result described in the test case, and completing the test if they are consistent; if they are inconsistent, locating the problems in the test code and the Simulink model and repairing them, until the actual closed-loop test result is consistent with the expected result described in the test case and the test is completed.

[0008] Furthermore, the method further comprises: The automobile virtual test simulation platform and the Simulink model are both set in a first test device, and a Windows operating system is deployed in the first test device; the test code is set in a second test device, and a Linux operating system is deployed in the second test device; the first test device and the second test device are communicatively connected.

[0009] Furthermore, the method also includes: the first test device and the second test device are connected via Ethernet, and the first test device and the second test device are communicated via DDS; before the first test device and the second test device communicate, in the Matlab environment, a ROS2 message corresponding to the DDS message is customized and compiled; in the Simulink model, an input interface is connected to a specified DDS message or signal.

[0010] In a second aspect, the present application provides a parking function simulation test system, including: An automobile virtual test simulation platform, used to provide a required parking test scenario, wherein the parking test scenario provides parking test scenario parameters, and the parking test scenario parameters include environmental information, vehicle position information, and vehicle body dynamics information; A test code for reading the environment information and vehicle position information; A Simulink model for reading interactive control instructions and vehicle body dynamics information; The test code and the Simulink model perform information interaction and collaborative control according to the environmental information and vehicle position information, the interactive control instructions and the vehicle body dynamics information respectively; the Simulink model is also used to generate a parking control instruction and send the parking control instruction to the automobile virtual test simulation platform; The automobile virtual test simulation platform is also used to implement a closed-loop test of the parking function according to the test case and the parking control instruction.

[0011] Furthermore, the automobile virtual test simulation platform and the Simulink model are both set in a first test device, and the first test device deploys a Windows operating system; the test code is set in a second test device, and the second test device deploys a Linux operating system; the first test device and the second test device are communicatively connected.

[0012] Furthermore, the first test device and the second test device are connected via Ethernet, and communication connection is achieved via DDS.

[0013] Furthermore, the automobile virtual test simulation platform is the simulation software DYNA4, and the Simulink model is embedded in the simulation software DYNA4.

[0014] Furthermore, the system also includes an interactive control instruction input module, which is used to provide input of the interactive control instruction.

[0015] Furthermore, the system also includes a display module. The Simulink model is also used to generate display instructions; The display module is used for displaying according to the display instruction.

[0016] Compared with the prior art, the parking function simulation test method and system provided by the present application have achieved beneficial technical effects including: the test code and Simulink model respectively perform information interaction and collaborative control according to different types of information, making the control logic of the entire system more flexible and intelligent, and being able to more accurately simulate the interaction of various factors in the actual parking process. By deploying the automobile virtual test simulation platform, Simulink model and test code respectively, the parking function test environment can be quickly built, which greatly saves time and cost and improves test efficiency compared to traditional real vehicle testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are for explanation purposes only and are not intended to limit the scope of the present application in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only for illustration purposes and are used to help understand the present application. They do not specifically limit the shapes and proportional dimensions of the components of the present application. Under the guidance of the present application, those skilled in the art can select various possible shapes and proportional dimensions to implement the present application according to specific circumstances. In the drawings: Figure 1 A schematic diagram of a flow chart of a simulation test method for a parking function provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a simulation test system for the parking function provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0019] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features.

[0020] In view of the current inability to combine automobile software developed using C / C++ with traditional automobile software developed based on Simulink models to perform simulation testing of parking functions, an embodiment of the present application provides a simulation testing method and system for parking functions.

[0021] The solution provided in the embodiments of the present application is described in detail in conjunction with specific implementation methods.

[0022] See also Figure 1 , Figure 1 A schematic flow chart of a simulation test method for a parking function provided in this embodiment, the method comprising the following steps: Step S100, building a test system: including deploying a vehicle virtual test simulation platform, a Simulink model, and a test code.

[0023] In the embodiment, a test system is built based on the test code (such as C / C++ code) and Simulink model provided by the developer, the C / C++ code source code is directly run in the first test device (a desktop or notebook with a Linux operating system deployed), and the Simulink source model is directly run in the second test device (a desktop or notebook with a Windows operating system deployed). The first test device and the second test device can be connected by an Ethernet and use Data Distribution Service (DDS) to communicate and transmit data.

[0024] The automobile virtual test simulation platform can be the simulation software DYNA4, and the Simulink model can be embedded in the dynamics model of the simulation software DYNA4, so the simulation software DYNA4 and the Simulink source model can run in the same Windows system.

[0025] As an example, before the first test device communicates with the second test device, a DDS environment is configured in a Windows computer, and in a Matlab environment, a ROS2 message corresponding to a DDS message is customized and compiled; in a Simulink model, an input interface is connected to a specified DDS message or signal.

[0026] Step S110, selecting a required parking test scenario from the automobile virtual test simulation platform, the parking test scenario provides parking test scenario parameters, and the parking test scenario parameters include environmental information, vehicle position information, and vehicle body dynamics information.

[0027] In the embodiment, the test scene in the test case is selected from the scene library of the automobile virtual test simulation platform (DYNA4 simulation platform). If there is no test scene in the scene library that meets the test case conditions, the tester needs to use DYNA4 to manually build a simulation test scene. The specific construction method is not limited, and can be drawn manually or using a public database. The scene mainly includes environmental information, vehicle position information and body dynamics information; wherein the environmental information may include parking space information (parking space type, parking space width, length, parking space line wear degree, whether the parking space is occupied, etc.), road surface materials, obstacles, weather conditions, etc.; vehicle position information is the self-vehicle coordinate position, body posture and positioning information calculated when the simulated vehicle moves in the simulation scene, the position includes x, y, z coordinates, the body posture includes roll (roll), pitch (pitch), yaw (yaw), and the positioning information is the wheel speed pulse; the body dynamics information configuration selection is as far as possible according to the actual parameters of the real vehicle configuration, mainly including vehicle type selection, chassis system parameter configuration, power system parameter configuration, brake system parameter configuration, steering system parameter configuration, positioning algorithm model, tire system parameter configuration, etc.

[0028] Step S120, using the test code to read the environmental information and vehicle position information; using the Simulink model to read the interactive control instructions and the vehicle body dynamics information; the test code and the Simulink model perform information interaction and collaborative control according to the environmental information and vehicle position information as well as the interactive control instructions and the vehicle body dynamics information respectively; the Simulink model generates a parking control instruction and sends it to the automobile virtual test simulation platform; using the automobile virtual test simulation platform to implement a closed-loop test of the parking function according to the test case and the parking control instruction.

[0029] In the embodiment, in step S120, the test personnel complete the execution of the test in sequence according to the test cases and the constructed test system.

[0030] In some embodiments, the simulation test method for the parking function also includes step S130, including: based on the expected results described in the test case, the tester makes a judgment based on the results of the actual test execution. If the results are consistent, the process proceeds to step S150. If the results are inconsistent, a preliminary problem location is required to determine whether it is a C / C++ code problem or a Simulink model problem. The corresponding developer then performs further location analysis and determines that it is a problem (Bug) before proceeding to step S140.

[0031] Furthermore, the method includes step S140, where the developer directly modifies the C / C++ source code or Simulink model (i.e., source model) in the test system according to the Bug located in step S130, and then re-enters step S120 to perform the test, repeating steps S120-S140 until the bug is completely fixed, and then enters step S150.

[0032] Step S150: If the test result is determined to be consistent with the expected result according to step S130, the test is completed.

[0033] In the embodiment, the test system only needs to be built once in step S100, and steps S110-S150 are test steps for a single use case. Steps S110-S150 need to be repeated for each subsequent use case until all test cases are executed.

[0034] The simulation test method for the parking function provided in this application can verify the feasibility of the software in the early stage of development and discover problems as early as possible; through repeated testing of the source code, problems can be quickly located and modified in real time, thereby improving the efficiency of testing and development; and through the construction of rich test scenarios through simulation software, more test requirements can be covered, thereby improving the stability of the parking function.

[0035] In specific implementations, developers can design how the Simulink model and the test code interact based on actual needs, and this application does not impose any restrictions on this.

[0036] In some embodiments, a Simulink model is also used to generate display instructions, which are commands requesting HMI interface display after being processed by the parking function (C / C++ code, Simulink model), including the current parking status, requesting driver input prompts, etc.

[0037] Based on the same inventive concept as the parking function simulation test method provided in the above embodiment, the embodiment of the present application also provides a parking function simulation test system, such as Figure 2 As shown, it includes the automotive virtual test simulation platform, test code and Simulink model.

[0038] Among them, the automobile virtual test simulation platform is used to provide the required parking test scenario, and the parking test scenario provides parking test scenario parameters. The parking test scenario parameters include environmental information, vehicle position information and vehicle body dynamics information.

[0039] The test code is used to read the environment information and vehicle location information.

[0040] The Simulink model is used to read parking interaction control instructions and vehicle body dynamics information; the test code and Simulink model perform information interaction and collaborative control based on environmental information and vehicle position information as well as interaction control instructions and vehicle body dynamics information respectively; the Simulink model is also used to generate parking control instructions.

[0041] The automotive virtual test simulation platform is also used to implement closed-loop testing of parking functions based on test cases and parking control instructions.

[0042] In the embodiment, the automobile virtual test simulation platform and the Simulink model are both set in the first test device, and the first test device deploys the Windows operating system; the test code can be a source code written in C / C++, which is set in the second test device, and the second test device deploys the Linux operating system; the first test device and the second test device are connected in communication. The simulation test system composed of the automobile virtual test simulation platform, the Simulink model and the test code is used to perform early simulation tests in the ADAS development process.

[0043] In the embodiment, the automobile virtual test simulation platform can use the simulation software DYNA4. In actual use, any commercial or self-developed simulation software can be used. The simulation scene is built using the simulation software DYNA4. For example, in the above embodiment, the simulation scene mainly includes environmental information, vehicle position information, and vehicle body dynamics information. Figure 2As shown, the simulation software DYNA4 may include an environment information input module, a vehicle position information input module and a body dynamics input module. The environment information input module and the vehicle position information input module provide environment information and vehicle position information to the test code respectively, and the body dynamics input module provides body dynamics information to the Simulink model.

[0044] In some embodiments, environmental information may include parking space information (parking space type, parking space width, length, degree of wear of parking space lines, whether the parking space is occupied, etc.), road material, obstacles, weather conditions, etc.; vehicle position information is the vehicle coordinate position, body posture and positioning information calculated when the simulated vehicle moves in the simulation scene, the position includes x, y, and z coordinates, the body posture includes roll, pitch, and yaw, and the positioning information is the wheel speed pulse; the body dynamics information may include information such as the vehicle speed, gear, motion state, and wheel speed.

[0045] like Figure 2 As shown, in some embodiments, the simulation test system of the parking function also includes an interactive control instruction input module, which is used to provide input of parking interactive control instructions, such as using the interactive control instruction input module to provide human-machine interface (HMI) interactive control instructions to the Simulink model, such as providing parking start commands, parking in and out selections, parking space selections, parking cancellation commands, etc. for the parking function, simulating the driver's selection input during the parking process.

[0046] The test code is the source code written in C / C++ provided by the developer. In some embodiments, the test code may include algorithms such as perception, positioning, planning, and fusion. The actual code is subject to the specific developer's provision and is not limited here. The source code runs directly in the Linux system computer without the need to compile and flash it to the ECU. Developers can directly modify the source code and conduct repeated tests based on the problems found during the test.

[0047] As an example, the perception algorithm in the C / C++ source code obtains relevant information such as environmental information and vehicle position information, which can be passed to the Simulink source model to provide basic data for the processing of the state machine, control and other units of the Simulink source model.

[0048] As an example, the test code can obtain state machine information and / or control decision information from the Simulink model. For example, it can understand the parking stage (waiting, searching for parking spaces, parking in / out execution, parking completion, etc.) of the state machine in the Simulink model, as well as the control decision (recommended steering strategy, speed adjustment suggestion, etc.) generated by the control unit, so that its own processing can be coordinated with the state and decision of the Simulink model.

[0049] The test code can use the functions in the code to implement logical judgments in the process of setting up the parking test scenario. Combined with the data and information read, logical judgments are made based on perception, positioning, planning, fusion and other algorithms. For example, judging whether there is a parking space that can be parked based on environmental information, judging whether the current position of the vehicle meets expectations based on vehicle position information and positioning information, and planning the vehicle's driving path based on the fused information. Alternatively, the test code implements control-related operations for the parking process through functions. Based on the results of logical judgments, control parameters are generated, such as the expected acceleration and deceleration, steering angle range, etc., to provide key parameters for the control link of the entire parking function. These parameters may be further processed by the Simulink model to generate the final parking control instructions.

[0050] The Simulink model is a source model provided by the developer and is part of the parking function. In some embodiments, the source model mainly includes a state machine, control, HMI processing unit, etc., which is actually provided by the specific developer and is not limited here. The source model runs directly on a Windows computer without the need to compile and write it to the ECU. Developers can directly modify the source code for repeated testing based on problems found during the test. Since the dynamics of the simulation software DYNA4 is also built based on the Simulink model, the source model of the parking function can be directly embedded into the dynamics model of DYNA4.

[0051] As an example, the interactive control instructions (HMI) received by the Simulink model, such as parking start, parking in and out selection, parking cancellation and other commands, can directly affect the state switching of the state machine. For example, when receiving the parking start instruction, the state machine may switch from the initial idle state to the parking space search state; if receiving the parking cancellation instruction, the state machine may switch to the stop or standby state. By parsing and processing these instructions, the Simulink model can determine the stage of the current parking process, thereby generating the corresponding state machine information, and generating display instructions based on the state machine information and sending them to the display module to remind the user / driver of the current parking state.

[0052] Vehicle body dynamics information, such as vehicle speed, gear position, and motion status, also helps determine the state of the state machine. For example, if the vehicle's current speed does not meet the parking entry conditions, such as a speed greater than 5 km / h, even if the parking start command is received, the state machine may not immediately switch to the parking search state, but instead prompt the driver that the speed is too high and ask him to slow down or stop. Based on the comprehensive analysis of vehicle body dynamics information and interactive control commands, the Simulink model can more accurately generate state machine information that reflects the actual parking process.

[0053] The state machine in the Simulink model records the stages of the parking process, such as standby, searching for parking spaces, parking in / out execution, parking completion, etc. By passing this state information to the C / C++ source code, the algorithm can be flexibly adjusted according to different stages. For example, in the standby state, the C / C++ source code does not need to plan the parking path; in the parking execution stage, the parking path needs to be planned in real time based on the vehicle positioning information and environmental information.

[0054] As an example, the control decisions generated by the control unit in the Simulink model based on the input information, such as the recommended steering strategy and speed adjustment suggestions, are passed to the C / C++ source code to provide reference for the planning and fusion algorithms in the C / C++ source code and optimize the overall control instructions. For example, based on the vehicle body dynamics and environmental information, the Simulink model believes that a small deceleration and fine-tuning of the steering are required at present, and this decision is passed to the C / C++ source code for further confirmation or adjustment.

[0055] The Simulink model can generate parking control instructions, which are processed by the parking function (C / C++ code, Simulink model) to request vehicle control commands. After the parking function obtains the input of the simulation software DYNA4 and the interactive control command (HMI), it calculates and outputs the parking control instructions, which include parking control request, acceleration control request, requested acceleration value, steering control request, requested steering angle, gear control request, requested gear value, EPB control request and other commands. The control instructions are directly sent to the simulation software DYNA4 to control the lateral and longitudinal movement of the vehicle in the simulation scene to achieve closed-loop testing.

[0056] In some embodiments, the system further includes a display module, and the Simulink model is further used to generate display instructions; the display module is used to display according to the display instructions. In an embodiment, the display instructions are fed back to the HMI window to prompt the tester of the current parking process status. A corresponding input window is also provided during the parking process, allowing the tester to decide to continue or cancel parking. After parking is completed, a prompt pops up to inform the tester that parking is completed and the vehicle can be taken over.

[0057] In some instances, the Simulink model is directly embedded in the dynamics model of the simulation software DYNA4, so the vehicle body dynamics input module can be directly connected to the Simulink model through Simulink signal lines. At the same time, the Simulink model can also be directly connected to the dynamics model of the simulation software DYNA4 through Simulink signal lines to transmit parking control instructions.

[0058] In some instances, the environment information input module, vehicle location information input module, and Simulink model are all running in the Simulink model in a separate computer, while the test code is C / C++ code running in another computer in the form of source code. Therefore, Ethernet hardware is used for connection and DDS is used for communication, which has large bandwidth and low latency. However, it is necessary to determine the DDS Message in advance and customize the ROS2 Message in Matlab. After successful compilation, connect the input interface to the specified Message / Signal in the Simulin model to achieve communication.

[0059] In some examples, the interactive control command input and display module implementation methods are not limited. This implementation directly uses the Ros2 tool Rivz2 visualization tool to develop a simple HMI window, which runs directly in the Linux computer where the test code is deployed and communicates with another computer through DDS.

[0060] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0061] The parking function simulation test method and system provided in the present application effectively combine the traditional development model with the new code development method, solving the problem that the existing MIL (Model-In-the-Loop) test method and SIL (Software-In-the-Loop) test method cannot fully cover the simultaneous testing of source code and source model; the entire test system construction and testing can be completed by only one tester, and can cover different vehicle models and different parking functions, which can effectively save manpower and hardware costs compared to real vehicle or HIL (Hardware-In-the-Loop) testing.

[0062] Through the above methods, this application makes up for the problem of insufficient coverage of real vehicle testing, can discover problems as early as possible before HIL or real vehicle testing, and can quickly locate and solve functional source code problems online, thereby improving efficiency and saving costs.

[0063] The above is a detailed introduction to the simulation test method and system for the parking function provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the concept of the present application and should not be understood as limiting the scope of protection of the present application.

Claims

1. A parking function simulation test method, characterized in that: include: Deploy the automotive virtual test simulation platform, Simulink model, and test code respectively; Selecting a required parking test scenario from the automobile virtual test simulation platform, wherein the parking test scenario provides parking test scenario parameters, and the parking test scenario parameters include environmental information, vehicle position information, and vehicle body dynamics information; Using the test code to read the environmental information and vehicle position information; Using the Simulink model to read interactive control instructions and the vehicle body dynamics information; The test code and the Simulink model perform information interaction and collaborative control according to the environmental information and vehicle position information, interactive control instructions and the vehicle body dynamics information respectively; the Simulink model generates parking control instructions and sends them to the automobile virtual test simulation platform; and the automobile virtual test simulation platform is used to implement a closed-loop test of the parking function according to the test case and the parking control instructions.

2. The parking function simulation test method according to claim 1, characterized in that: The method also includes: comparing the actual closed-loop test result with the expected result described in the test case, and completing the test if they are consistent; if they are inconsistent, locating the problems of the test code and the Simulink model and repairing them, until the actual closed-loop test result is consistent with the expected result described in the test case, and completing the test.

3. The parking function simulation test method according to claim 1, characterized in that: The method further comprises: The automobile virtual test simulation platform and the Simulink model are both set in a first test device, and a Windows operating system is deployed in the first test device; the test code is set in a second test device, and a Linux operating system is deployed in the second test device; the first test device and the second test device are communicatively connected.

4. The parking function simulation test method according to claim 3, characterized in that: The method also includes: the first test device and the second test device are connected via Ethernet, and the first test device and the second test device are communicated via DDS; before the first test device and the second test device communicate, in a Matlab environment, a ROS2 message corresponding to the DDS message is customized and compiled; in the Simulink model, an input interface is connected to a specified DDS message or signal.

5. A parking function simulation test system, characterized in that: include: An automobile virtual test simulation platform, used to provide a required parking test scenario, wherein the parking test scenario provides parking test scenario parameters, and the parking test scenario parameters include environmental information, vehicle position information, and vehicle body dynamics information; A test code for reading the environment information and vehicle position information; A Simulink model for reading interactive control instructions and vehicle body dynamics information; The test code and the Simulink model perform information interaction and collaborative control according to the environmental information and vehicle position information, the interactive control instructions and the vehicle body dynamics information respectively; the Simulink model is also used to generate a parking control instruction and send the parking control instruction to the automobile virtual test simulation platform; The automobile virtual test simulation platform is also used to implement a closed-loop test of the parking function according to the test case and the parking control instruction.

6. The parking function simulation test system according to claim 5, characterized in that: The automobile virtual test simulation platform and Simulink model are both set in a first test device, and the first test device deploys a Windows operating system; the test code is set in a second test device, and the second test device deploys a Linux operating system; the first test device and the second test device are communicatively connected.

7. The parking function simulation test system according to claim 6, characterized in that: The first test device and the second test device are connected via Ethernet, and communication connection is achieved via DDS.

8. The parking function simulation test system according to claim 5, characterized in that: The automobile virtual test simulation platform is the simulation software DYNA4, and the Simulink model is embedded in the simulation software DYNA4.

9. The parking function simulation test system according to claim 5, characterized in that: The system further comprises an interactive control instruction input module, which is used to provide input of the interactive control instruction.

10. The parking function simulation test system according to claim 5, characterized in that: The system further comprises a display module, The Simulink model is also used to generate display instructions; The display module is used for displaying according to the display instruction.

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