Test method and system applied to automatic driving drive-by-wire chassis and medium

Abstract

The invention relates to a test method and system applied to an automatic drive-by-wire chassis and a medium, and the method comprises the steps: U1, enabling a vehicle to run to a preset test scene, and collecting the data information of all parameters of the drive-by-wire chassis of the vehicle in real time; u2, on the basis of the data information of the parameters of the drive-by-wire chassis of the vehicle, calibrating the parameters of the drive-by-wire chassis of the vehicle by adopting a crazy self-adaptive calibration algorithm based on a Spearman rank correlation coefficient to obtain the calibrated data information of the parameters of the drive-by-wire chassis of the vehicle; and U3, based on the data information of each parameter of the calibrated vehicle drive-by-wire chassis, adopting an improved Archimedes optimization algorithm based on attenuation factors and dynamic learning to optimize each parameter of the calibrated vehicle drive-by-wire chassis. According to the invention, all-directional and automatic testing and real-time calibration of the drive-by-wire chassis can be realized, and the safety and reliability of an automatic driving system are improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a testing method, system and medium applied to an autonomous driving wire-controlled chassis. Background Art

[0002] With the rapid development of autonomous driving technology, the performance and stability of the wire-controlled chassis, as the core component of the autonomous driving system, are crucial to the safety and comfort of autonomous vehicles. However, most of the existing wire-controlled chassis testing methods rely on manual operation, with long test cycles, high costs, and difficulty in covering all working conditions. At the same time, the calibration process of the wire-controlled chassis is complicated and requires manual adjustments by professional technicians, which is not only inefficient, but also difficult to ensure the accuracy and consistency of the calibration. Summary of the invention

[0003] In view of the above problems, the present invention provides a testing method, system and medium for an autonomous driving drive-by-wire chassis, which can not only realize all-round, automated testing and real-time calibration of the drive-by-wire chassis, but also improve the safety and reliability of the autonomous driving system.

[0004] In order to achieve the above-mentioned purpose and other related purposes, the technical solution provided by the present invention is as follows:

[0005] A testing method for an autonomous driving by-wire chassis, the method comprising:

[0006] U1. The vehicle drives to the preset test scene and collects data information of various parameters of the vehicle's wire-controlled chassis in real time;

[0007] U2. Based on the data information of various parameters of the vehicle's control-by-wire chassis, the parameters of the vehicle's control-by-wire chassis are calibrated using a crazy adaptive calibration algorithm based on the Spearman rank correlation coefficient to obtain data information of various parameters of the calibrated vehicle's control-by-wire chassis;

[0008] U3. Based on the data information of various parameters of the calibrated vehicle's control-by-wire chassis, the parameters of the calibrated vehicle's control-by-wire chassis are optimized using an improved Archimedean optimization algorithm based on attenuation factor and dynamic learning to obtain data information of various parameters of the optimized vehicle's control-by-wire chassis;

[0009] U4. Based on the data information of various parameters of the optimized vehicle's drive-by-wire chassis, a test function F of the vehicle's drive-by-wire chassis is established, the test results of the vehicle's drive-by-wire chassis are characterized, and the data information of the test results of the vehicle's drive-by-wire chassis is output.

[0010] Furthermore, the method further comprises:

[0011] U5. Based on the data information of the test results of the vehicle's control-by-wire chassis, a preset threshold is set. If the test result of the vehicle's control-by-wire chassis is greater than the preset threshold, it meets the requirements; if the test result of the vehicle's control-by-wire chassis is less than the preset threshold, it does not meet the requirements.

[0012] Furthermore, in step U2, the method of calibrating the parameters of the vehicle's drive-by-wire chassis using a crazy adaptive calibration algorithm based on the Spearman rank correlation coefficient includes:

[0013] U21. Based on the data information of various parameters of the vehicle's control-by-wire chassis, a function Q of the Spearman rank correlation coefficient of the vehicle's control-by-wire chassis is established.

[0014]

[0015] Among them, x i is the data information of the i-th parameter of the vehicle's control-by-wire chassis, x0 is the average rank of the parameters of the vehicle's control-by-wire chassis, f is the rank function of the vehicle's control-by-wire chassis, n is the sample size, α i is the weight coefficient of the i-th direction parameter of the vehicle's control-by-wire chassis, characterizes the correlation degree of various parameters of the vehicle's control-by-wire chassis, and obtains data information of the correlation degree of various parameters of the vehicle's control-by-wire chassis;

[0016] U22. Based on the data information of the correlation degree of various parameters of the vehicle's wire-controlled chassis, a calibration function W of the vehicle's wire-controlled chassis is established.

[0017]

[0018] Among them, y is the data information of the correlation degree of various parameters of the vehicle's wire-controlled chassis, β is the crazy operator of the vehicle's wire-controlled chassis parameters, δ is the adaptive inertia weight of the vehicle's wire-controlled chassis parameters, and γ is the calibration coefficient of the vehicle's wire-controlled chassis parameters;

[0019] U23. Based on the calibration function W of the vehicle's by-wire chassis, calibrate the parameters of the vehicle's by-wire chassis to obtain data information of various parameters of the calibrated vehicle's by-wire chassis.

[0020] Furthermore, the position function f of the vehicle's controlled-by-wire chassis is,

[0021]

[0022] The weight coefficient α of the i-th parameter of the vehicle's control-by-wire chassis i The constraints are:

[0023]

[0024] Among them, xi is the data information of the i-th parameter of the vehicle's wire-controlled chassis, and n is the sample size.

[0025] Furthermore, the average ranking x0 of the parameters of the vehicle's control-by-wire chassis is,

[0026]

[0027] Among them, x i is the data information of the i-th parameter of the vehicle's wire-controlled chassis, n is the sample size, x i+1 It is the data information of the i+1th parameter of the vehicle's wire-controlled chassis.

[0028] Furthermore, the crazy operator β of the vehicle's control-by-wire chassis parameters is,

[0029]

[0030] The adaptive inertia weight δ of the vehicle's drive-by-wire chassis parameters is,

[0031]

[0032] The calibration coefficient γ of the vehicle's control-by-wire chassis parameters is,

[0033]

[0034] Wherein, y is data information on the correlation degree of various parameters of the vehicle's wire-controlled chassis.

[0035] Furthermore, in step U3, the optimization of various parameters of the calibrated vehicle's drive-by-wire chassis using an improved Archimedean optimization algorithm based on attenuation factor and dynamic learning includes:

[0036] U31. Based on the data information of various parameters of the calibrated vehicle's wire-controlled chassis, the population is initialized, the population parameters and the maximum number of iterations L are determined, and the initialized population data information is obtained;

[0037] U32. Based on the initialized population data information, establish the fitness function R of the population individuals,

[0038]

[0039] Among them, z is the population data information after initialization, η1, η2 and η3 are the attenuation factors of the population individuals, and the fitness values ​​of the population individuals are calculated to obtain the fitness data information of the population individuals;

[0040] U33. Based on the fitness data information of the individuals in the population, establish the optimization function S of the target,

[0041]

[0042] Among them, r is the fitness data information of the population individuals, λ1, λ2 and λ3 are the dynamic learning factors of the population individuals, and the various parameters of the wire-controlled chassis of the calibrated vehicle are optimized to obtain the data information of the various parameters of the wire-controlled chassis of the optimized vehicle.

[0043] Furthermore, the test function F of the vehicle's controlled-by-wire chassis is,

[0044]

[0045] Among them, g is the data information of various parameters of the vehicle's drive-by-wire chassis after optimization, and μ1, μ2 and μ3 are evaluation factors of the vehicle's drive-by-wire chassis.

[0046] In order to achieve the above-mentioned purpose and other related purposes, the present invention also provides a test system applied to an autonomous driving wire-controlled chassis, including a computer device, which is programmed or configured to execute any one of the steps of the test method applied to the autonomous driving wire-controlled chassis.

[0047] In order to achieve the above-mentioned purpose and other related purposes, the present invention also provides a computer-readable storage medium, which stores a computer program programmed or configured to execute any one of the test methods described for an autonomous driving wire-controlled chassis.

[0048] The present invention has the following positive effects:

[0049] 1. The present invention calibrates the parameters of the vehicle's drive-by-wire chassis by adopting a crazy adaptive calibration algorithm based on the Spearman rank correlation coefficient, and optimizes the various parameters of the calibrated vehicle's drive-by-wire chassis by combining an improved Archimedean optimization algorithm based on attenuation factor and dynamic learning. This not only enables all-round, automated testing and real-time calibration of the drive-by-wire chassis, but also improves the safety and reliability of the autonomous driving system.

[0050] 2. The present invention characterizes the test results of the vehicle's drive-by-wire chassis by establishing a test function F of the vehicle's drive-by-wire chassis. This can not only more intuitively represent the test structure of the vehicle's drive-by-wire chassis and facilitate adjustment, but also adjust calibration parameters in real time according to different test scenarios and vehicle states, thereby improving the adaptability and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0052] Figure 2It is a flow chart of the crazy adaptive calibration algorithm based on Spearman rank correlation coefficient of the present invention;

[0053] Figure 3 It is a flow chart of the improved Archimedean optimization algorithm based on attenuation factor and dynamic learning of the present invention;

[0054] Figure 4 It is a schematic diagram of the system framework of the present invention. DETAILED DESCRIPTION

[0055] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0056] Example 1: Figure 1 As shown, a test method for an autonomous driving wire-controlled chassis, the method comprising:

[0057] U1. The vehicle drives to the preset test scene and collects data information of various parameters of the vehicle's wire-controlled chassis in real time;

[0058] U2. Based on the data information of various parameters of the vehicle's control-by-wire chassis, the parameters of the vehicle's control-by-wire chassis are calibrated using a crazy adaptive calibration algorithm based on the Spearman rank correlation coefficient to obtain data information of various parameters of the calibrated vehicle's control-by-wire chassis;

[0059] U3. Based on the data information of various parameters of the calibrated vehicle's control-by-wire chassis, the parameters of the calibrated vehicle's control-by-wire chassis are optimized using an improved Archimedean optimization algorithm based on attenuation factor and dynamic learning to obtain data information of various parameters of the optimized vehicle's control-by-wire chassis;

[0060] U4. Based on the data information of various parameters of the optimized vehicle's drive-by-wire chassis, a test function F of the vehicle's drive-by-wire chassis is established, the test results of the vehicle's drive-by-wire chassis are characterized, and the data information of the test results of the vehicle's drive-by-wire chassis is output.

[0061] In this embodiment, the method further includes:

[0062] U5. Based on the data information of the test results of the vehicle's control-by-wire chassis, a preset threshold is set. If the test result of the vehicle's control-by-wire chassis is greater than the preset threshold, it meets the requirements; if the test result of the vehicle's control-by-wire chassis is less than the preset threshold, it does not meet the requirements.

[0063] In this embodiment, if Figure 2 As shown, in step U2, the crazy adaptive calibration algorithm based on the Spearman rank correlation coefficient is used to calibrate the parameters of the vehicle's drive-by-wire chassis, including:

[0064] U21. Based on the data information of various parameters of the vehicle's control-by-wire chassis, a function Q of the Spearman rank correlation coefficient of the vehicle's control-by-wire chassis is established.

[0065]

[0066] Among them, x i is the data information of the i-th parameter of the vehicle's control-by-wire chassis, x0 is the average rank of the parameters of the vehicle's control-by-wire chassis, f is the rank function of the vehicle's control-by-wire chassis, n is the sample size, α i is the weight coefficient of the i-th direction parameter of the vehicle's control-by-wire chassis, characterizes the correlation degree of various parameters of the vehicle's control-by-wire chassis, and obtains data information of the correlation degree of various parameters of the vehicle's control-by-wire chassis;

[0067] U22. Based on the data information of the correlation degree of various parameters of the vehicle's wire-controlled chassis, a calibration function W of the vehicle's wire-controlled chassis is established.

[0068]

[0069] Among them, y is the data information of the correlation degree of various parameters of the vehicle's wire-controlled chassis, β is the crazy operator of the vehicle's wire-controlled chassis parameters, δ is the adaptive inertia weight of the vehicle's wire-controlled chassis parameters, and γ is the calibration coefficient of the vehicle's wire-controlled chassis parameters;

[0070] U23. Based on the calibration function W of the vehicle's by-wire chassis, calibrate the parameters of the vehicle's by-wire chassis to obtain data information of various parameters of the calibrated vehicle's by-wire chassis.

[0071] In this embodiment, the position function f of the vehicle's controlled-by-wire chassis is,

[0072]

[0073] The weight coefficient α of the i-th parameter of the vehicle's control-by-wire chassis i The constraints are:

[0074]

[0075] Among them, x i is the data information of the i-th parameter of the vehicle's wire-controlled chassis, and n is the sample size.

[0076] In this embodiment, the average rank x0 of the parameters of the vehicle's control-by-wire chassis is,

[0077]

[0078] Among them, x i is the data information of the i-th parameter of the vehicle's wire-controlled chassis, n is the sample size, x i+1 It is the data information of the i+1th parameter of the vehicle's wire-controlled chassis.

[0079] In this embodiment, the crazy operator β of the vehicle's drive-by-wire chassis parameters is,

[0080]

[0081] The adaptive inertia weight δ of the vehicle's drive-by-wire chassis parameters is,

[0082]

[0083] The calibration coefficient γ of the vehicle's control-by-wire chassis parameters is,

[0084]

[0085] Wherein, y is data information on the correlation degree of various parameters of the vehicle's wire-controlled chassis.

[0086] Example 2: Based on the test method for an autonomous driving wire-controlled chassis in Example 1, the present invention is further illustrated and described below.

[0087] like Figure 1 As shown, a test method for an autonomous driving wire-controlled chassis, the method comprising:

[0088] U1. The vehicle drives to the preset test scene and collects data information of various parameters of the vehicle's wire-controlled chassis in real time;

[0089] U2. Based on the data information of various parameters of the vehicle's control-by-wire chassis, the parameters of the vehicle's control-by-wire chassis are calibrated using a crazy adaptive calibration algorithm based on the Spearman rank correlation coefficient to obtain data information of various parameters of the calibrated vehicle's control-by-wire chassis;

[0090] U3. Based on the data information of various parameters of the calibrated vehicle's control-by-wire chassis, the parameters of the calibrated vehicle's control-by-wire chassis are optimized using an improved Archimedean optimization algorithm based on attenuation factor and dynamic learning to obtain data information of various parameters of the optimized vehicle's control-by-wire chassis;

[0091] U4. Based on the data information of various parameters of the optimized vehicle's drive-by-wire chassis, a test function F of the vehicle's drive-by-wire chassis is established, the test results of the vehicle's drive-by-wire chassis are characterized, and the data information of the test results of the vehicle's drive-by-wire chassis is output.

[0092] In this embodiment, if Figure 3 As shown, in step U3, the optimization of various parameters of the calibrated vehicle's drive-by-wire chassis using the improved Archimedean optimization algorithm based on attenuation factor and dynamic learning includes:

[0093] U31. Based on the data information of various parameters of the calibrated vehicle's wire-controlled chassis, the population is initialized, the population parameters and the maximum number of iterations L are determined, and the initialized population data information is obtained;

[0094] U32. Based on the initialized population data information, establish the fitness function R of the population individuals,

[0095]

[0096] Among them, z is the population data information after initialization, η1, η2 and η3 are the attenuation factors of the population individuals, and the fitness values ​​of the population individuals are calculated to obtain the fitness data information of the population individuals;

[0097] U33. Based on the fitness data information of the individuals in the population, establish the optimization function S of the target,

[0098]

[0099] Among them, r is the fitness data information of the population individuals, λ1, λ2 and λ3 are the dynamic learning factors of the population individuals, and the various parameters of the wire-controlled chassis of the calibrated vehicle are optimized to obtain the data information of the various parameters of the wire-controlled chassis of the optimized vehicle.

[0100] In this embodiment, the test function F of the vehicle's controlled-by-wire chassis is,

[0101]

[0102] Among them, g is the data information of various parameters of the vehicle's drive-by-wire chassis after optimization, and μ1, μ2 and μ3 are evaluation factors of the vehicle's drive-by-wire chassis.

[0103] In this embodiment, the present invention provides a test system applied to an autonomous driving wire-controlled chassis, including a computer device that is programmed or configured to execute any one of the steps of the test method applied to an autonomous driving wire-controlled chassis.

[0104] In this embodiment, if Figure 4As shown, this application uses a high-performance scenario host, ADS domain controller, VCU vehicle controller, real-time system and real vehicle test bench to form a closed-loop test system. Among them, the high-performance scenario host builds the ADAS test scene through the Prescan software, and outputs the environmental perception information to the ADS domain controller through Ethernet; the ADS domain controller transmits the control instructions to the VCU through the CAN signal; the VCU drives the test bench to perform relevant controls according to the instructions, and collects the feedback signal and sends it to the real-time system through the CAN signal; the real-time system adjusts the vehicle's dynamic properties according to the actual test bench execution response, and feeds back to the high-performance scenario host through Ethernet to change the current vehicle motion posture.

[0105] Automatic test process: The system automatically executes the test process according to the preset test scenarios and test parameters. The test scenarios include but are not limited to complex traffic environments such as highways, urban roads, and low-speed parks. During the test, the system collects various data of the wire-controlled chassis in real time, including steering angle, braking force, vehicle speed, etc., and compares them with the preset standard values ​​to evaluate the performance and stability of the wire-controlled chassis.

[0106] Adaptive calibration algorithm: During the test, the system uses an adaptive calibration algorithm to adjust the calibration parameters of the drive-by-wire chassis in real time based on the collected data. The calibration parameters include but are not limited to steering ratio, brake force distribution, suspension stiffness, etc. Through continuous iterative optimization, the performance of the drive-by-wire chassis reaches the optimal state.

[0107] Combination of simulation and physical verification: In order to further improve the accuracy and reliability of the test, the present invention adopts a combination of simulation and physical verification. After preliminary testing and optimization in a simulation environment, physical verification is performed on a real vehicle test bench to ensure the reliability and effectiveness of the test results.

[0108] In this embodiment, the present invention provides a computer-readable storage medium, on which is stored a computer program programmed or configured to execute any one of the test methods described for an autonomous driving wire-controlled chassis.

[0109] Any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM).

[0110] In summary, the present invention can not only realize all-round, automated testing and real-time calibration of the drive-by-wire chassis, but also improve the safety and reliability of the autonomous driving system.

[0111] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A test method for an autonomous driving by-wire chassis, characterized in that: The method comprises: U1. The vehicle drives to the preset test scene and collects data information of various parameters of the vehicle's wire-controlled chassis in real time; U2. Based on the data information of various parameters of the vehicle's control-by-wire chassis, the parameters of the vehicle's control-by-wire chassis are calibrated using a crazy adaptive calibration algorithm based on the Spearman rank correlation coefficient to obtain data information of various parameters of the calibrated vehicle's control-by-wire chassis; U3. Based on the data information of various parameters of the calibrated vehicle's control-by-wire chassis, the parameters of the calibrated vehicle's control-by-wire chassis are optimized using an improved Archimedean optimization algorithm based on attenuation factor and dynamic learning to obtain data information of various parameters of the optimized vehicle's control-by-wire chassis; U4. Based on the data information of various parameters of the optimized vehicle's drive-by-wire chassis, a test function F of the vehicle's drive-by-wire chassis is established, the test results of the vehicle's drive-by-wire chassis are characterized, and the data information of the test results of the vehicle's drive-by-wire chassis is output.

2. The test method for an automatic driving by-wire chassis according to claim 2, characterized in that: The method further comprises: U5. Based on the data information of the test results of the vehicle's control-by-wire chassis, a preset threshold is set. If the test result of the vehicle's control-by-wire chassis is greater than the preset threshold, it meets the requirements; if the test result of the vehicle's control-by-wire chassis is less than the preset threshold, it does not meet the requirements.

3. The testing method for an automatic driving by-wire chassis according to claim 1, characterized in that: In step U2, the method of calibrating the parameters of the vehicle's drive-by-wire chassis using a crazy adaptive calibration algorithm based on the Spearman rank correlation coefficient includes: U21. Based on the data information of various parameters of the vehicle's control-by-wire chassis, a function Q of the Spearman rank correlation coefficient of the vehicle's control-by-wire chassis is established. Among them, x i is the data information of the i-th parameter of the vehicle's control-by-wire chassis, x0 is the average rank of the parameters of the vehicle's control-by-wire chassis, f is the rank function of the vehicle's control-by-wire chassis, n is the sample size, α i is the weight coefficient of the i-th direction parameter of the vehicle's control-by-wire chassis, characterizes the correlation degree of various parameters of the vehicle's control-by-wire chassis, and obtains data information of the correlation degree of various parameters of the vehicle's control-by-wire chassis; U22. Based on the data information of the correlation degree of various parameters of the vehicle's wire-controlled chassis, a calibration function W of the vehicle's wire-controlled chassis is established. Among them, y is the data information of the correlation degree of various parameters of the vehicle's wire-controlled chassis, β is the crazy operator of the vehicle's wire-controlled chassis parameters, δ is the adaptive inertia weight of the vehicle's wire-controlled chassis parameters, and γ is the calibration coefficient of the vehicle's wire-controlled chassis parameters; U23. Based on the calibration function W of the vehicle's drive-by-wire chassis, calibrate the parameters of the vehicle's drive-by-wire chassis to obtain data information of various parameters of the calibrated vehicle's drive-by-wire chassis.

4. The test method for an automatic driving by-wire chassis according to claim 3, characterized in that: The position function f of the vehicle's controlled-by-wire chassis is, The weight coefficient α of the i-th parameter of the vehicle's control-by-wire chassis i The constraints are: Among them, x i is the data information of the i-th parameter of the vehicle's wire-controlled chassis, and n is the sample size.

5. The test method for an automatic driving by-wire chassis according to claim 3, characterized in that: The average ranking x0 of the parameters of the vehicle's control-by-wire chassis is, Among them, x i is the data information of the i-th parameter of the vehicle's wire-controlled chassis, n is the sample size, x i+1 It is the data information of the i+1th parameter of the vehicle's wire-controlled chassis.

6. The test method for an automatic driving by-wire chassis according to claim 3, characterized in that: The crazy operator β of the drive-by-wire chassis parameters of the vehicle is, The adaptive inertia weight δ of the vehicle's drive-by-wire chassis parameters is, The calibration coefficient γ of the vehicle's control-by-wire chassis parameters is, Wherein, y is data information on the correlation degree of various parameters of the vehicle's wire-controlled chassis.

7. The test method for an automatic driving by-wire chassis according to claim 1, characterized in that: In step U3, the optimization of various parameters of the calibrated vehicle's drive-by-wire chassis using an improved Archimedean optimization algorithm based on attenuation factor and dynamic learning includes: U31. Based on the data information of various parameters of the calibrated vehicle's wire-controlled chassis, the population is initialized, the population parameters and the maximum number of iterations L are determined, and the initialized population data information is obtained; U32. Based on the initialized population data information, establish the fitness function R of the population individuals, Among them, z is the population data information after initialization, η1, η2 and η3 are the attenuation factors of the population individuals, and the fitness values ​​of the population individuals are calculated to obtain the fitness data information of the population individuals; U33. Based on the fitness data information of the individuals in the population, establish the optimization function S of the target, Among them, r is the fitness data information of the population individuals, λ1, λ2 and λ3 are the dynamic learning factors of the population individuals, and the various parameters of the wire-controlled chassis of the calibrated vehicle are optimized to obtain the data information of the various parameters of the wire-controlled chassis of the optimized vehicle.

8. The test method for an automatic driving by-wire chassis according to claim 1, characterized in that: The test function F of the vehicle's controlled-by-wire chassis is, Among them, g is the data information of various parameters of the vehicle's drive-by-wire chassis after optimization, and μ1, μ2 and μ3 are evaluation factors of the vehicle's drive-by-wire chassis.

9. A test system for an autonomous driving by-wire chassis, comprising a computer device, characterized in that: The computer device is programmed or configured to execute the steps of the test method for an autonomous driving wire-controlled chassis as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program that is programmed or configured to execute the test method for an autonomous driving wire-controlled chassis as described in any one of claims 1 to 8.

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