Automatic driving electromagnetic interference testing device, vehicle, method, system and medium

Abstract

The invention discloses an automatic driving electromagnetic interference testing device, a vehicle, a method, a system and a medium, and the device comprises a signal generator, a directional coupler, an electromagnetic interference coupling clamp, an inverter and a storage battery, and is installed at a preset position of the vehicle. The signal generator is used for generating an electromagnetic interference original waveform; the directional coupler is used for separating the electromagnetic interference original waveform into electromagnetic interference waveforms in a plurality of preset directions so as to measure the interference of electromagnetic interference in different preset directions on the ECU; the electromagnetic interference coupling clamp is used for injecting an electromagnetic interference waveform into the ECU wire harness in a coupling manner; the storage battery position is used for providing independent power supply for the vehicle-mounted testing device; and the inverter is used for converting the direct current provided by the storage battery into the alternating current required by the vehicle-mounted testing device. The accuracy of the electromagnetic interference test is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile manufacturing technology, and in particular to an autonomous driving electromagnetic interference testing device, vehicle, method, system and medium. Background Art

[0002] The automotive industry has been studying electromagnetic compatibility and electromagnetic safety for decades. The electromagnetic compatibility of traditional internal combustion engine vehicles mainly focuses on protecting external radio equipment from interference from the vehicle. However, with the development of new energy and intelligent connected vehicles, as well as changes in the electromagnetic environment of roads in recent years, the electromagnetic safety of vehicles under external interference has become a new hot spot in the industry in recent years.

[0003] The safe operation of autonomous vehicles mainly depends on the electronic control system in the vehicle, and the normal operation of each link of the electronic control system, namely perception, decision-making and execution, depends on the normal operation of other electronic systems. These electronic systems control the steering and speed of the vehicle in real time. With the rapid development of autonomous vehicles, the complexity of these electronic systems is increasing. Once a failure occurs under external electromagnetic interference, the autonomous driving function will become abnormal, and even the vehicle will be out of control, resulting in serious accidents such as casualties.

[0004] Therefore, before the release of an autonomous vehicle, the autonomous driving function of the autonomous vehicle needs to be tested to improve the safety of the vehicle. Currently, the test is generally carried out through the following methods: The vehicle is disassembled into multiple components or subsystems, and the anti-interference ability of each component or subsystem to electromagnetic interference is tested in turn; finally, the whole vehicle is placed on a rotating drum to test the anti-electromagnetic interference ability of the whole vehicle. However, in actual applications, there are significant hidden dangers in the electromagnetic safety of autonomous driving vehicles.

[0005] Although the vehicle is disassembled into multiple components or subsystems for testing, the test is more comprehensive, but the testing of each component or subsystem cannot replace the testing of the whole vehicle. Although the whole vehicle is tested on the rotating drum, the vehicle on the drum is in a stationary state, and the anti-electromagnetic interference test is still inaccurate. Summary of the invention

[0006] The purpose of this application is to provide an autonomous driving electromagnetic interference testing device, vehicle, method, system and medium to solve the problems described in the background technology.

[0007] To achieve the above objectives, this application provides the following solutions: In a first aspect, the present application provides an electromagnetic interference test device for autonomous driving, comprising: a signal generator, a directional coupler, an electromagnetic interference coupling clamp, an inverter, and a battery, and is installed at a predetermined position of a vehicle; The signal generator is used to generate an original electromagnetic interference waveform; The directional coupler is used to separate the original electromagnetic interference waveform into electromagnetic interference waveforms in multiple predetermined directions, so that the automatic driving function electronic control system ECU can measure the interference of electromagnetic interference in different predetermined directions to itself respectively; The electromagnetic interference coupling clamp is used to inject the electromagnetic interference waveform into the ECU wiring harness in a coupled manner; The battery is used to provide independent power supply for the vehicle-mounted test device; The inverter is used to convert the direct current provided by the battery into the alternating current required by the vehicle-mounted test device.

[0008] Optionally, the device further comprises a power amplifier, and the power amplifier is used to amplify the original waveform of the electromagnetic interference to a standard power.

[0009] Optionally, the apparatus further comprises a radio frequency power measuring device, wherein the radio frequency power measuring device is used to measure a power value of a waveform coupled to the electromagnetic interference coupling clamp.

[0010] Optionally, the device also includes a light source, a radar, a locator and a communication device arranged on an outdoor road, which are used to provide equipment support for the vehicle to be tested to perform the automatic driving function.

[0011] Optionally, the signal generator, directional coupler, electromagnetic interference coupling clamp, inverter, battery, power amplifier, and radio frequency power measuring device are detachably mounted on the vehicle to be tested.

[0012] In a second aspect, the present application provides an autonomous driving vehicle, which is equipped with the above-mentioned autonomous driving electromagnetic interference testing device.

[0013] In a third aspect, the present application provides an autonomous driving electromagnetic interference testing method, comprising: Receiving environmental parameters sent by road traffic equipment, where the road traffic equipment is equipment pre-arranged on the road and used to support the vehicle to be tested to normally perform the automatic driving function; Obtain interference signal parameters of an electromagnetic interference signal injected into an electronic control system of an autonomous driving function through an interference coupling clamp; When the environmental parameter and the interference signal parameter are within a normal range, starting the automatic driving function so that the vehicle can automatically drive on the road; Acquire first working state data of the vehicle to be tested when the automatic driving function is in an activated state; When the first working state data of the vehicle is normal, it is determined that the automatic driving function of the vehicle to be tested is normal.

[0014] Optionally, before receiving the environmental parameters sent by the road traffic equipment, the method further includes: Acquire second working state data of the vehicle under test, where the second working state data is the working state data of the vehicle under test when the vehicle under test is in a state where the automatic driving function is not turned on and an electromagnetic interference signal is injected into the electronic control system of the vehicle under test; When the second working status data is normal, a road traffic equipment arrangement instruction is generated, so that the user arranges the road traffic equipment after knowing the road traffic equipment arrangement instruction.

[0015] In a fourth aspect, the present application provides an electronic control system, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the methods described in the first aspect above.

[0016] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect above.

[0017] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0018] According to the specific embodiments provided in this application, this application discloses the following technical effects: The autonomous driving electromagnetic interference test device provided in the embodiment of the present application includes devices such as a signal generator, a directional coupler, an electromagnetic interference coupling clamp, an inverter and a battery, and each device is installed on the vehicle to be tested, so that the vehicle to be tested is no longer limited to the half-wave darkroom, but can be driven on the road, and then when the electromagnetic interference test of the autonomous driving function of the vehicle to be tested is performed, the vehicle to be tested can perform the autonomous driving function to improve the accuracy of the autonomous driving function test. With respect to the prior art, the whole vehicle is placed on the drum of the anechoic chamber. Although the test is at the whole vehicle level, the vehicle to be tested can only rotate on the drum, and the vehicle to be tested cannot turn on the autonomous driving function. Therefore, the autonomous driving function cannot operate normally, so that the electromagnetic interference test cannot be carried out normally. Therefore, compared with the prior art, in the present application, the electromagnetic interference test device is installed on the vehicle to be tested, so that the vehicle to be tested can be driven outdoors, so that the autonomous driving function can be turned on, thereby improving the accuracy of the autonomous driving function test. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A logical schematic diagram of an electromagnetic interference test device for autonomous driving provided in one embodiment of the present application; Figure 2 A logical schematic diagram of an electromagnetic interference test device for autonomous driving provided in one embodiment of the present application; Figure 3 A schematic diagram of an electromagnetic interference test device for autonomous driving installed on a vehicle according to an embodiment of the present application; Figure 4 A schematic diagram of an outdoor road environment for electromagnetic interference testing of a vehicle's autonomous driving function provided in one embodiment of the present application; Figure 5 A flowchart of an electromagnetic interference testing method for an autonomous driving function provided in one embodiment of the present application; Figure 6 A flowchart of an electromagnetic interference testing method for an autonomous driving function provided in another embodiment of the present application; Figure 7 A flowchart of an electromagnetic interference testing method for an autonomous driving function provided in another embodiment of the present application; Figure 8 A schematic diagram of the structure of an electronic control system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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 are within the scope of protection of this application.

[0022] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0023] The present application embodiment provides an electromagnetic interference test device for autonomous driving, such as Figure 1 As shown, combined with Figure 3 The test device includes: a signal generator 1, a directional coupler 3, an electromagnetic interference coupling clamp 5, an inverter 7 and a battery 8.

[0024] The signal generator 1 is installed at the rear seat position of the vehicle to be tested, and is used to generate the original electromagnetic interference waveform; The directional coupler 3 is installed at the rear seat position of the vehicle to be tested, and is used to separate the original electromagnetic interference waveform into multiple electromagnetic interference waveforms in predetermined directions, so that the electronic control system of the automatic driving function (English full name: Electronic Control Unit; English abbreviation: ECU) can measure the interference of electromagnetic interference in different predetermined directions to itself respectively; The electromagnetic interference coupling clamp 5 is installed on the power supply line of the electronic control system 6 of the vehicle to be tested, at a distance of 150mm±10mm from the electronic control system 6, and is used to inject the electromagnetic interference waveform into the ECU wiring harness in a coupled manner; it should be noted here that the electronic control system 6 is a component of the vehicle itself.

[0025] The battery 8 is installed at the trunk of the vehicle to be tested and is used to provide independent power supply for the vehicle-mounted test device; The inverter 7 is installed at the trunk of the vehicle to be tested and is used to convert the direct current provided by the battery 8 into the alternating current required by the vehicle-mounted test device.

[0026] The devices included in the test device may be fixed or not fixed in the vehicle. When not fixed, the devices can be placed on the vehicle during the test, and can be taken out of the vehicle after the test is completed.

[0027] In addition, it should be noted that the various devices included in the testing device can also be installed or placed at other locations of the vehicle, and this application does not impose any restrictions on this.

[0028] The signal generator 1 generates an original electromagnetic interference waveform according to a predetermined standard, and the predetermined standard may be the International Organization for Standardization (ISO) and the recommended national standard GB / T.

[0029] The power in the predetermined direction generally includes forward and reverse. Further, the forward and reverse directions can be understood as: taking the ECU as the reference position, the direction toward the front of the vehicle is the front and rear, and the direction toward the rear of the vehicle is the reverse.

[0030] Among them, the autonomous driving function ECU is the vehicle's own equipment, so the location of the ECU is determined based on the actual vehicle installation situation, and is used for autonomous driving perception, decision-making and execution.

[0031] The working process of the above autonomous driving electromagnetic interference test device is as follows: When the vehicle needs to be tested for autonomous driving functions, the vehicle to be tested is first placed on a predetermined road; Then the electromagnetic interference test device is installed at a predetermined position of a predetermined vehicle; at this time, the automatic driving function may not be started; The power supply of the device is turned on, and the battery 8 transmits direct current to the inverter 7; The inverter 7 converts the DC power provided by the battery 8 into the AC power required by the vehicle-mounted test device, and provides it to other devices. At this time, other devices have power and start working; The signal generator 1 generates an original electromagnetic interference waveform; The directional coupler 3 receives the original electromagnetic interference waveform and separates the original electromagnetic interference waveform into electromagnetic interference waveforms in multiple predetermined directions; The electromagnetic interference coupling clamp 5 injects the electromagnetic interference waveform into the ECU wiring harness in a coupling manner; it should be noted here that even if there are multiple electromagnetic interference waveforms in predetermined directions, one electromagnetic interference coupling clamp 5 is still sufficient; Start the automatic driving function of the vehicle under test, and the vehicle under test starts to drive. The ECU perceives, makes decisions, and executes according to the actual road conditions, and generates test data; The ECU determines whether the autonomous driving function of the vehicle under test is normal based on the test data.

[0032] Among them, the test data includes the data when the vehicle is subjected to electromagnetic interference testing under normal circumstances. Please refer to the relevant prior art, and this application will not elaborate on it here.

[0033] The automatic driving electromagnetic interference test device provided in the embodiment of the present application includes a signal generator 1, a directional coupler 3, an electromagnetic interference coupling clamp 5, an inverter 7, a battery 8 and other devices, and each device is installed on the vehicle to be tested, so that the vehicle to be tested is no longer limited to the half-wave darkroom, but can be driven on the road, and then when the electromagnetic interference test of the automatic driving function of the vehicle to be tested is performed, the vehicle to be tested can perform the automatic driving function to improve the accuracy of the automatic driving function test. With respect to the prior art, the whole vehicle is placed on the drum of the radio wave darkroom. Although the test is at the whole vehicle level, the vehicle to be tested can only rotate on the drum, and the vehicle to be tested cannot turn on the automatic driving function. Therefore, the automatic driving function cannot be operated normally, so that the electromagnetic interference test cannot be carried out normally. Therefore, compared with the prior art, in the present application, the electromagnetic interference test device is installed on the vehicle to be tested, so that the vehicle to be tested can be driven outdoors, so that the automatic driving function can be turned on, thereby improving the accuracy of the automatic driving function test.

[0034] Alternatively, see Figure 2The autonomous driving electromagnetic interference test device also includes a power amplifier 2, which is installed at the rear seat of the vehicle to be tested and is used to amplify the original electromagnetic interference waveform to a standard power.

[0035] Here, it should be noted that the original waveform of electromagnetic interference generated by the signal amplifier 1 can be received and amplified by the power amplifier 2 .

[0036] Among them, the standard power can be the power for electromagnetic interference testing of autonomous driving functions specified according to experimental requirements, and multiple standard powers are generally recommended.

[0037] When the power of electromagnetic interference is too large or too small, it is different from the power of electromagnetic interference that the vehicle is exposed to during actual operation, resulting in the electromagnetic interference test failing to combine the actual use of the vehicle and losing the true meaning of the test.

[0038] Alternatively, see Figure 2 The autonomous driving electromagnetic interference test device also includes a radio frequency power measuring device 4, which is installed at the rear seat of the vehicle to be tested and is used to measure the power value of the waveform coupled to the electromagnetic interference coupling clamp 5.

[0039] The size of the electromagnetic interference waveform injected into the electronic control system 6 is measured in real time by the radio frequency power measuring device 4, so that when the size of the electromagnetic interference waveform injected into the electronic control system 6 does not meet the requirements, it can be adjusted in time.

[0040] Alternatively, see Figure 4 The autonomous driving electromagnetic interference test device also includes light sources, radars, locators and communication equipment arranged on outdoor roads.

[0041] By arranging light sources, radars, positioning, communications and other equipment that can support the autonomous driving of the vehicle under test on the road, an environment is created that enables the normal operation of the autonomous driving function, thereby improving the accuracy of the autonomous driving function test. When conducting electromagnetic interference testing of the vehicle's autonomous driving function, it is necessary to first arrange road traffic equipment on the road for autonomous driving.

[0042] Optionally, the signal generator 1, the directional coupler 3, the electromagnetic interference coupling clamp 5, the inverter 7, the battery 8, the power amplifier 2, and the radio frequency power measuring device 4 are detachably installed on the vehicle to be tested.

[0043] When the electromagnetic interference testing device is detachably installed on the vehicle to be tested, the electromagnetic interference testing device can be removed after the test and can be used when the next vehicle is tested. Therefore, the electromagnetic interference testing device can be reused, reducing the cost of electromagnetic interference testing of autonomous driving functions.

[0044] In an exemplary embodiment, Figure 5 As shown, combined with Figure 7 , provides an electromagnetic interference test method for autonomous driving, which is executed by the above-mentioned electronic control system 6, including the following steps 201 to 205: Step 201, receiving environmental parameters sent by road traffic equipment, where the road traffic equipment is equipment pre-arranged on the road and used to support the vehicle to be tested to normally perform the automatic driving function.

[0045] Road traffic equipment may include light sources (lights), radars, positioning, communications and other equipment, so environmental parameters may include parameters such as the brightness of light, whether the radar is working normally, whether the positioning system is normal, and whether the communication equipment is working normally.

[0046] When conducting electromagnetic interference testing of the vehicle's automatic driving function, it is necessary to first arrange road traffic equipment on the road for automatic driving. When the road traffic equipment is arranged, the vehicle's electronic control system 6 will receive the parameters sent by the road traffic equipment. For example, the electronic control system 6 will sense the light intensity of the light source, receive the radar to determine whether there are obstacles around the vehicle, receive the current position of the vehicle sent by the locator, and receive the color and remaining time of the traffic light sent by the communication device.

[0047] Step 202: Obtain interference signal parameters of the electromagnetic interference signal injected into the electronic control system by the interference coupling clamp.

[0048] In this application, unless otherwise specified, the electronic control system refers to the electronic control system for the automatic driving function.

[0049] Before entering the test, it is necessary to ensure that electromagnetic interference is continuously injected to ensure that the acquired data are all test data, rather than a mixture of test data and non-test data, so as to improve the accuracy of the test data.

[0050] Interference signal parameters include power. The function of the interference signal is generally controlled within a predetermined range. If it is too large or too small, it needs to be adjusted in time to ensure the normal operation of electromagnetic interference.

[0051] Step 203: When the environmental parameters and the interference signal parameters are within a normal range, the automatic driving function is started so that the vehicle can automatically travel on the road.

[0052] When the environmental parameters are normal, it means that the road traffic equipment can support the vehicle under test to perform the automatic driving function normally, so that the automatic driving function can be started and the automatic driving function test can be performed.

[0053] When the interference signal parameters are normal, it means that the interference coupling clamp has injected an electromagnetic wave interference signal that meets the requirements. Among them, meeting the requirements means that the size and intensity of the interference signal meet the requirements.

[0054] Among them, starting the automatic driving function can be achieved through the following two methods: The first one is to automatically start the autonomous driving function when it is detected that the environmental parameters and interference signal parameters are normal; The second method is to generate a reminder to start the automatic driving function when the environmental parameters and interference signal parameters are detected to be normal. When the user sees the reminder, the automatic driving function is manually started.

[0055] Step 204 , obtaining first working state data of the vehicle under test when the automatic driving function is in an activated state.

[0056] The first working status data is used to determine whether the vehicle to be tested is in a normal operating state. When the first working status data is normal, step 205 is executed. When the first working status data is abnormal, it is determined that the automatic driving function of the vehicle to be tested is erroneous.

[0057] Step 205: When the first working status data of the vehicle falls within a first predetermined range, it is determined that the automatic driving function of the vehicle to be tested is normal.

[0058] Among them, the first predetermined range is predetermined and is the data range that can ensure the normal operation of the vehicle's automatic driving function.

[0059] Furthermore, the first predetermined range may be an empirical value, or a data range obtained by many vehicles passing through many times of normal automatic driving. Of course, when obtaining the first predetermined range, the parameters of the vehicle when the automatic driving is not normal may also be used.

[0060] Furthermore, the first working status data includes any data involved in the vehicle's automatic driving, such as resource occupancy, frame rate, steering delay, performance of each device, obstacle perception accuracy, etc.

[0061] When the first working state data of the vehicle is abnormal, the automatic driving function is turned off, and the vehicle to be tested is manually taken over. Further, the problem of the vehicle to be tested can be analyzed according to the log data recorded by the electronic control system 6.

[0062] For other contents in the method embodiment, reference may be made to the relevant contents in the device embodiment, which will not be described in detail here.

[0063] The electromagnetic interference test method for autonomous driving provided in the embodiment of the present application obtains the first working state parameters of the vehicle to be tested in the autonomous driving state during the autonomous driving test, which can directly and accurately reflect whether the autonomous driving function of the vehicle to be tested is normal. As for the prior art, by obtaining the parameters of the vehicle to be tested located on the drum, the vehicle on the drum only moves on the drum, and true autonomous driving is not achieved, and the test accuracy is low. Therefore, compared with the prior art, the electromagnetic interference test method for the autonomous driving function provided in the embodiment of the present application improves the accuracy of the test.

[0064] Alternatively, see Figure 6 , and combined with Figure 7 In another exemplary embodiment of the present application, before the above step 201, the method further includes the following steps 301 to 302: Step 301, obtaining second working state data of the vehicle under test, wherein the second working state data is the working state data of the vehicle under test when the vehicle under test is in a state where the automatic driving function is not turned on and an electromagnetic interference signal is injected into the electronic control system of the vehicle under test.

[0065] Before testing the autonomous driving function, the electromagnetic interference test system is installed in the vehicle to be tested so that the vehicle to be tested can travel with the test system. This enables the vehicle to test the autonomous driving function during autonomous driving.

[0066] After the electromagnetic interference test system is installed on the vehicle to be tested, the electromagnetic interference is injected into the electronic control system using an interference coupling clamp 6.

[0067] Step 302: When the second working state data falls within a second predetermined range, a road traffic equipment arrangement instruction is generated, so that the user arranges the road traffic equipment after knowing the road traffic equipment arrangement instruction.

[0068] The second predetermined range is the parameters of each device of the vehicle when the vehicle has no faults. The second predetermined range can be an empirical value or data obtained through testing of many vehicles without faults and vehicles with faults.

[0069] Furthermore, the second working state data may include fault diagnostic codes, vehicle performance parameters, maximum vehicle speed, maximum climbing grade, rated speed, idle speed, etc.

[0070] When the second working state data is abnormal, it indicates that the vehicle under test has a fault and cannot be tested for the automatic driving function. Therefore, there is no need to arrange road traffic equipment for the vehicle under test.

[0071] Furthermore, the problem of the vehicle to be tested can be analyzed based on the log data recorded by the electronic control system 6 .

[0072] In an exemplary embodiment, the present application provides an autonomous driving vehicle, which is equipped with the above-mentioned autonomous driving electromagnetic interference testing device.

[0073] In an exemplary embodiment, an electronic control system 6 is provided, and the internal structure diagram of the electronic control system can be as follows: Figure 8 As shown. The electronic control system includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the electronic control system is used to provide computing and control capabilities. The memory of the electronic control system includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic control system is used to store data related to the electromagnetic interference test of autonomous driving. The input / output interface of the electronic control system is used to exchange information between the processor and an external device. The communication interface of the electronic control system is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for electromagnetic interference testing of autonomous driving is implemented.

[0074] Those skilled in the art will understand that Figure 8 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic control system to which the scheme of the present application is applied. The specific electronic control system may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0075] In an exemplary embodiment, an electronic control system is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0076] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0077] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0078] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0079] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0080] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0081] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An electromagnetic interference test device for autonomous driving, characterized in that: include: Signal generators, directional couplers, electromagnetic interference coupling clamps and electronic control systems for autonomous driving functions; The signal generator is used to generate an original electromagnetic interference waveform; The directional coupler is used to separate the original electromagnetic interference waveform into a plurality of electromagnetic interference waveforms in predetermined directions; The electromagnetic interference coupling clamp is used to inject the electromagnetic interference waveform into the automatic driving function electronic control system ECU wiring harness in a coupling manner; The automatic driving function electronic control system ECU is used to measure the interference caused by electromagnetic interference in different predetermined directions to itself; The signal generator, directional coupler, electromagnetic interference coupling clamp, inverter and battery are installed at a predetermined position of the vehicle to be tested.

2. The autonomous driving electromagnetic interference test device according to claim 1, characterized in that: The device also includes a power amplifier, which is used to amplify the original electromagnetic interference waveform to a standard power; the directional coupler is used to separate the original electromagnetic interference waveform amplified to the standard power into a plurality of electromagnetic interference waveforms in predetermined directions.

3. The automatic driving electromagnetic interference test device according to claim 2, characterized in that: The apparatus further comprises a radio frequency power measuring device, wherein the radio frequency power measuring device is used to measure the power value of the waveform coupled to the electromagnetic interference coupling clamp.

4. The automatic driving electromagnetic interference test device according to claim 3, characterized in that: The device also includes a light source, a radar, a locator and a communication device arranged on an outdoor road, which are used to provide equipment support for the vehicle to be tested to perform the automatic driving function.

5. The autonomous driving electromagnetic interference test device according to any one of claims 1 to 4, characterized in that: The signal generator, directional coupler, electromagnetic interference coupling clamp, inverter, battery, power amplifier, and radio frequency power measuring equipment are detachably mounted on the vehicle to be tested.

6. An autonomous driving vehicle, wherein the autonomous driving vehicle is equipped with the autonomous driving electromagnetic interference testing device according to any one of claims 1 to 5.

7. An electromagnetic interference test method for autonomous driving, characterized in that: include: Receiving environmental parameters sent by road traffic equipment, where the road traffic equipment is equipment pre-arranged on the road and used to support the vehicle to be tested to normally perform the automatic driving function; Obtain interference signal parameters of an electromagnetic interference signal injected into an electronic control system of an autonomous driving function; When the environmental parameter and the interference signal parameter are within a normal range, starting the automatic driving function so that the vehicle can automatically drive on the road; Acquire first working state data of the vehicle to be tested when the automatic driving function is in an activated state; When the first working state data of the vehicle falls within a first predetermined range, it is determined that the automatic driving function of the vehicle to be tested is normal.

8. The electromagnetic interference testing method for autonomous driving according to claim 7, characterized in that: Before receiving the environmental parameters sent by the road traffic equipment, the method further includes: Acquire second working state data of the vehicle under test, where the second working state data is the working state data of the vehicle under test when the vehicle under test is in a state where the automatic driving function is not turned on and an electromagnetic interference signal is injected into the electronic control system of the vehicle under test; When the second working state data falls within a second predetermined range, a road traffic equipment arrangement instruction is generated, so that the user arranges the road traffic equipment after knowing the road traffic equipment arrangement instruction.

9. An electronic control system comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the autonomous driving electromagnetic interference test method according to any one of claims 7 or 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the autonomous driving electromagnetic interference testing method described in any one of claims 7 or 8 is implemented.

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