Automatic Driving Electromagnetic Interference Test Device, Vehicle, Method, System and Medium

Abstract

The present application discloses an electromagnetic interference testing device, a vehicle, a method, a system and a medium for autonomous driving. The device includes: a signal generator, a directional coupler, an electromagnetic interference coupling clamp, an inverter and a storage battery, and is installed at a predetermined position of the 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 as to measure the interference of electromagnetic interference in different predetermined directions on the ECU respectively; the electromagnetic interference coupling clamp is used to inject the electromagnetic interference waveform into the ECU harness in a coupling manner; at the position of the storage battery, it is used to provide independent power supply for the vehicle-mounted testing device; the inverter is used to convert the direct current provided by the storage battery into the alternating current required by the vehicle-mounted testing device. The present application improves the accuracy of electromagnetic interference testing.

Description

Technical Field

[0001] The present application relates to the technical field of automobile manufacturing, and particularly to an electromagnetic interference test device, vehicle, method, system and medium for autonomous driving. Background Technique

[0002] The automotive industry has had a history of several decades in the research of electromagnetic compatibility and electromagnetic safety. The electromagnetic compatibility of traditional internal combustion engine vehicles mainly focuses on protecting external radio devices from being interfered by the vehicle. With the development of new energy and intelligent connected vehicles, and the changes in the road electromagnetic environment in recent years, the electromagnetic safety problem 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. The normal operation of each link of perception - decision - execution of the electronic control system depends on the normal operation of other various electronic systems. These electronic systems control the steering of the vehicle and the increase and decrease of vehicle speed in real time. Moreover, during the rapid development of autonomous vehicles, the complexity of these electronic systems has increased. Once a failure occurs under external electromagnetic interference, the autonomous driving function will be abnormal, and even the vehicle will lose control during driving, resulting in major accidents such as casualties of passengers.

[0004] Therefore, before the release of autonomous vehicles, it is necessary to test the autonomous driving function of autonomous vehicles to improve the safety of the vehicles. Currently, the following methods are generally used for testing:

[0005] 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 drum to test the anti - electromagnetic interference ability of the whole vehicle. However, in practical applications, there are significant hidden dangers in the electromagnetic safety of autonomous vehicles.

[0006] Although the vehicle is disassembled into multiple components or subsystems for testing, which is relatively comprehensive, the testing of each component or subsystem cannot replace the testing of the whole vehicle; although the vehicle on the drum is tested as a whole vehicle, the vehicle on the drum is in a stationary state, and the anti - electromagnetic interference test is still inaccurate. Summary of the Invention

[0007] The purpose of the present application is to provide an electromagnetic interference test device, vehicle, method, system and medium for autonomous driving to solve the problems described in the background technique.

[0008] To achieve the above purpose, the present application provides the following solutions:

[0009] 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;

[0010] The signal generator is used to generate an original electromagnetic interference waveform;

[0011] 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;

[0012] The electromagnetic interference coupling clamp is used to inject the electromagnetic interference waveform into the ECU wiring harness in a coupled manner;

[0013] The battery is used to provide independent power supply for the vehicle-mounted test device;

[0014] The inverter is used to convert the direct current provided by the battery into the alternating current required by the vehicle-mounted test device.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] In a third aspect, the present application provides an autonomous driving electromagnetic interference testing method, comprising:

[0021] 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;

[0022] 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;

[0023] When the environmental parameters and the interference signal parameters are within the normal range, the automatic driving function is started so that the vehicle to be tested can automatically drive on the road;

[0024] Obtain the first working state data of the vehicle to be tested when the automatic driving function is in the started state;

[0025] 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.

[0026] Optionally, before receiving the environmental parameters sent by the road traffic equipment, the method further includes:

[0027] Obtain the second working state data of the vehicle to be tested, where the second working state data is the working state data of the vehicle to be tested after an electromagnetic interference signal is injected into the electronic control system of the vehicle to be tested when the vehicle to be tested is in a state where the automatic driving function is not turned on;

[0028] When the second working state data is normal, generate a road traffic equipment layout instruction so that after the user learns the road traffic equipment layout instruction, the road traffic equipment is laid out.

[0029] In a fourth aspect, the present application provides an electronic control system, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the steps of the method according to any one of the above first aspects.

[0030] In a fifth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method according to any one of the above first aspects are implemented.

[0031] In a sixth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of the above first aspects are implemented.

[0032] According to the specific embodiments provided by the present application, the following technical effects are disclosed in the present application:

[0033] The electromagnetic interference test device for autonomous driving provided by the embodiments of the present application includes devices such as a signal generator, a directional coupler, an electromagnetic interference coupling clamp, an inverter, and a storage battery. Each device is installed on the vehicle to be tested, so that the vehicle to be tested is no longer restricted to a semi-anechoic chamber, but can drive on the road. Therefore, when performing the electromagnetic interference test on the autonomous driving function of the vehicle to be tested, the vehicle to be tested can execute the autonomous driving function to improve the accuracy of the autonomous driving function test. For the prior art, the whole vehicle is placed on the drum in the anechoic chamber. Although the test is at the whole vehicle level, the vehicle to be tested can only rotate on the drum and cannot turn on the autonomous driving function. Therefore, the autonomous driving function cannot operate normally, and 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 drive outdoors, thereby enabling the autonomous driving function to be turned on, and further improving the accuracy of the autonomous driving function test. Brief Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0035] Figure 1 Schematic diagram of an electromagnetic interference test device for autonomous driving provided by an embodiment of the present application;

[0036] Figure 2 Schematic diagram of an electromagnetic interference test device for autonomous driving provided by an embodiment of the present application;

[0037] Figure 3 Schematic diagram of installing an electromagnetic interference test device for autonomous driving on a vehicle provided by an embodiment of the present application;

[0038] Figure 4 Schematic diagram of an outdoor road environment for electromagnetic interference test of a vehicle's autonomous driving function provided by an embodiment of the present application;

[0039] Figure 5 Flowchart of a method for electromagnetic interference test of an autonomous driving function provided by an embodiment of the present application;

[0040] Figure 6 Flowchart of a method for electromagnetic interference test of an autonomous driving function provided by another embodiment of the present application;

[0041] Figure 7 Flowchart of a method for electromagnetic interference test of an autonomous driving function provided by another embodiment of the present application;

[0042] Figure 8 This is a schematic structural diagram of an electronic control system provided by an embodiment of the present application. Specific embodiments

[0043] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0044] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] An embodiment of the present application provides an electromagnetic interference test device for autonomous driving, as Figure 1 shown, and in conjunction 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 storage battery 8.

[0046] The signal generator 1 is installed at the rear seat position of the vehicle under test, and is used to generate an original electromagnetic interference waveform;

[0047] The directional coupler 3 is installed at the rear seat position of the vehicle under test, and is used to separate the original electromagnetic interference waveform into electromagnetic interference waveforms in multiple predetermined directions, so that the electronic control system of the autonomous driving function (English full name: Electronic Control Unit; English abbreviation: ECU) measures the interference of electromagnetic interference in different predetermined directions on itself;

[0048] The electromagnetic interference coupling clamp 5 is installed on the power supply line of the electronic control system 6 of the vehicle under test, and the distance from the electronic control system 6 is 150 mm ± 10 mm, and is used to inject the electromagnetic interference waveform into the ECU harness in a coupling manner; it should be noted here that the electronic control system 6 belongs to a component of the vehicle itself.

[0049] The storage battery 8 is installed at the position of the trunk of the vehicle under test, and is used to provide independent power supply for the in-vehicle test device;

[0050] The inverter 7 is installed at the position of the trunk of the vehicle under test and is used to convert the direct current provided by the storage battery 8 into alternating current required by the in-vehicle test device.

[0051] Among them, the various devices included in the test device can be fixed or not fixed in the vehicle. When not fixed, during the test, the various devices can be placed on the vehicle, and after the test is completed, the various devices can be removed from the vehicle.

[0052] In addition, it should be noted that the various devices included in the test device can also be installed or placed in other positions of the vehicle, and this application does not limit this.

[0053] Among them, the signal generator 1 generates an electromagnetic interference original waveform according to a predetermined standard, and the predetermined standard can be the International Organization for Standardization (ISO for short in English) and the recommended national standard GB / T.

[0054] Among them, the power in a predetermined direction generally includes forward and reverse. Further, the forward and reverse can be understood as follows: taking the ECU as the reference position, the direction towards the front of the vehicle is forward, and the direction towards the rear of the vehicle is reverse.

[0055] Among them, the ECU for the autonomous driving function is a device of the vehicle itself, so the position of the ECU is determined according to the actual vehicle installation situation and is used for perception, decision-making, and execution of autonomous driving.

[0056] The working process of the above-mentioned autonomous driving electromagnetic interference test device is as follows:

[0057] When it is necessary to test the autonomous driving function of the vehicle, first place the vehicle to be tested on a predetermined road;

[0058] Then install the above-mentioned electromagnetic interference test device at a predetermined position on the predetermined vehicle; at this time, the autonomous driving function can be not started;

[0059] Turn on the power of the device, and the battery 8 delivers direct current to the inverter 7;

[0060] The inverter 7 converts the direct current provided by the battery 8 into alternating current required by the in-vehicle test device and supplies it to other devices. At this time, the other devices start to work with power;

[0061] The signal generator 1 generates an electromagnetic interference original waveform;

[0062] The directional coupler 3 receives the electromagnetic interference original waveform and separates the electromagnetic interference original waveform into electromagnetic interference waveforms in multiple predetermined directions;

[0063] The electromagnetic interference coupling clamp 5 injects the electromagnetic interference waveform into the ECU harness in a coupling manner; it should be noted here that even if there are electromagnetic interference waveforms in multiple predetermined directions, only one electromagnetic interference coupling clamp 5 is still used;

[0064] Start the automatic driving function of the vehicle to be tested. The vehicle to be tested starts to drive. The ECU perceives, makes decisions, and executes according to the actual situation of the road, and generates test data;

[0065] The ECU determines whether the automatic driving function of the vehicle to be tested is normal based on the test data.

[0066] Among them, the test data includes the data during the electromagnetic interference test of the vehicle under normal circumstances. Refer to the relevant prior art for details, and this application will not elaborate here.

[0067] The automatic driving electromagnetic interference test device provided by the embodiments of this application includes devices such as a signal generator 1, a directional coupler 3, an electromagnetic interference coupling clamp 5, an inverter 7, and a storage battery 8. Each device is installed on the vehicle to be tested, so that the vehicle to be tested is no longer restricted to the semi-anechoic chamber, but can drive on the road. Therefore, when performing the electromagnetic interference test on the automatic driving function of the vehicle to be tested, the vehicle to be tested can execute the automatic driving function to improve the accuracy of the automatic driving function test. For the prior art, the whole vehicle is placed on the drum in 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 automatic driving function. Therefore, the automatic driving function cannot operate normally, making the electromagnetic interference test unable to proceed normally. Therefore, compared with the prior art, in this application, the electromagnetic interference test device is installed on the vehicle to be tested, so that the vehicle to be tested can drive outdoors, thereby enabling the automatic driving function to be turned on, and further improving the accuracy of the automatic driving function test.

[0068] Optionally, refer to Figure 2 , the automatic driving electromagnetic interference test device further includes a power amplifier 2. The power amplifier 2 is installed at the position of the rear row seat of the vehicle to be tested, and is used to amplify the original electromagnetic interference waveform to the standard power.

[0069] Here, it should be noted that the original electromagnetic interference waveform generated by the signal amplifier 1 can be received and amplified by the power amplifier 2.

[0070] Among them, the standard power can be the power specified according to the experimental requirements for the electromagnetic interference test of the automatic driving function. Generally, multiple standard powers will be recommended.

[0071] When the power of the electromagnetic interference is too large or too small, it is different from the power of the electromagnetic interference that the vehicle contacts during actual operation, resulting in the electromagnetic interference test not being combined with the actual situation of the vehicle during use, and losing the true meaning of the test.

[0072] Optionally, still refer to Figure 2, the automatic driving electromagnetic interference test device further includes a radio frequency power measurement device 4, which is installed at the position of the rear seat of the vehicle under test and is used to measure the power value of the waveform coupled to the electromagnetic interference coupling clamp 5.

[0073] The radio frequency power measurement device 4 measures in real time the magnitude of the electromagnetic interference waveform injected into the electronic control system 6, so that when the magnitude of the electromagnetic interference waveform injected into the electronic control system 6 does not meet the requirements, timely adjustment can be made.

[0074] Optionally, referring to Figure 4 , the automatic driving electromagnetic interference test device further includes a light source, a radar, a locator and a communication device arranged on an outdoor road.

[0075] By arranging devices such as a light source, a radar, positioning, and communication on the road to support the vehicle under test to perform automatic driving, an environment that enables the automatic driving function to operate normally is created, thereby improving the accuracy of the automatic driving function test. When conducting the electromagnetic interference test of the vehicle's automatic driving function, it is necessary to first arrange road traffic equipment on the automatic driving road.

[0076] Optionally, the signal generator 1, the directional coupler 3, the electromagnetic interference coupling clamp 5, the inverter 7, the storage battery 8, the power amplifier 2, and the radio frequency power measurement device 4 are detachably installed on the vehicle under test.

[0077] When the electromagnetic interference test device is detachably installed on the vehicle under test, after the test, the electromagnetic interference test device can be removed and can still be used when testing the next vehicle. Therefore, the electromagnetic interference test device can be reused, reducing the cost of the electromagnetic interference test of the automatic driving function.

[0078] In an exemplary embodiment, as Figure 5 shown and in combination with Figure 7 , an automatic driving electromagnetic interference test method is provided. This method is executed by the above-mentioned electronic control system 6 and includes the following steps 201 to step 205:

[0079] Step 201, receiving environmental parameters sent by road traffic equipment, where the road traffic equipment is equipment previously arranged on the road to support the vehicle under test to normally execute the automatic driving function.

[0080] The road traffic equipment may include devices such as a light source (lighting), a radar, positioning, and communication. Then the environmental parameters may include parameters such as the brightness of the light, whether the radar is operating normally, whether the positioning system is normal, and whether the communication device is operating in a normal state.

[0081] When conducting electromagnetic interference tests on the vehicle's autonomous driving function, it is necessary to first deploy road traffic equipment on the autonomous driving road. After the road traffic equipment is deployed, 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 whether there are obstacles to vehicle accessories sent by the radar, receive the current position of the vehicle sent by the locator, and receive the color and remaining time of the traffic signal sent by the communication device.

[0082] Step 202, obtain the interference signal parameters of the electromagnetic interference signal injected into the electronic control system by the interference coupling clamp.

[0083] In this application, unless otherwise specified, the electronic control system refers to the electronic control system for the autonomous driving function.

[0084] Before entering the test, it is necessary to ensure continuous injection of electromagnetic interference to ensure that the obtained data are all test data, rather than a mixture of test data and non-test data, improving the accuracy of the test data.

[0085] The interference signal parameters include the power magnitude. 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 progress of electromagnetic interference.

[0086] Step 203, when the environmental parameters and the interference signal parameters are within the normal range, start the autonomous driving function so that the vehicle to be tested can automatically drive on the road.

[0087] When the environmental parameters are normal, it means that the road traffic equipment can support the vehicle to be tested to normally execute the autonomous driving function, so the autonomous driving function can be started to perform the autonomous driving function test.

[0088] When the interference signal parameters are normal, it means that the interference coupling clamp injects an electromagnetic wave interference signal that meets the requirements. Among them, meeting the requirements means that the magnitude and intensity of the interference signal meet the requirements.

[0089] Among them, the autonomous driving function can be started through the following two methods:

[0090] First, when it is detected that the environmental parameters and the interference signal parameters are normal, automatically start the autonomous driving function;

[0091] Second, when it is detected that the environmental parameters and the interference signal parameters are normal, generate a start reminder for the autonomous driving function. When the user sees this start reminder, manually start the autonomous driving function.

[0092] Step 204, obtain the first working state data of the vehicle to be tested when the autonomous driving function is in the start state.

[0093] The first working state data is used to determine whether the vehicle under test is in a normal operating state. When the first working state data is normal, step 205 is executed. When the first working state data is abnormal, it is determined that the autonomous driving function of the vehicle under test has an error.

[0094] Step 205: When the first working state data of the vehicle falls within a first predetermined range, it is determined that the autonomous driving function of the vehicle under test is normal.

[0095] Among them, the first predetermined range is pre-determined and is a data range that can ensure the normal operation of the vehicle's autonomous driving function.

[0096] Further, the first predetermined range can be an empirical value or a data range obtained in advance through many vehicles during many normal autonomous driving operations. Of course, when obtaining the first predetermined range, the parameters of the vehicle when it cannot perform normal autonomous driving can also be considered.

[0097] Further, the first working state data includes any data involved in the vehicle's autonomous driving, such as resource occupancy rate, frame rate, steering delay, performance of each device, obstacle perception accuracy, etc.

[0098] When the first working state data of the vehicle is abnormal, the autonomous driving function is turned off and the vehicle under test is taken over manually. Further, the problem of the vehicle under test can also be analyzed according to the log data recorded by the electronic control system 6.

[0099] For other contents in the method embodiments, reference can be made to the relevant contents in the device embodiments and will not be elaborated here.

[0100] The autonomous driving electromagnetic interference test method provided by the embodiments of the present application obtains the first working state parameters of the vehicle under test in the autonomous driving state during the autonomous driving test, and can directly and accurately reflect whether the autonomous driving function of the vehicle under test is normal. For the prior art, by obtaining the parameters of the vehicle under test located on the drum, and the vehicle on the drum only moves on the drum without realizing true autonomous driving, the test accuracy is low. Therefore, compared with the prior art, the electromagnetic interference test method for the autonomous driving function provided by the embodiments of the present application improves the test accuracy.

[0101] Optionally, refer to Figure 6 , and in combination 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 step 302:

[0102] Step 301: Obtain the second working state data of the vehicle to be tested. The second working state data is the working state data of the vehicle to be tested when the vehicle to be tested is in a state where the autonomous driving function is not enabled and an electromagnetic interference signal is injected into the electronic control system of the vehicle to be tested.

[0103] Before conducting the autonomous driving function test, first install the electromagnetic interference test system in the vehicle to be tested so that the vehicle to be tested can drive with the test system. Thus, it can be achieved that the vehicle to be tested can detect the autonomous driving function during autonomous driving.

[0104] After installing the electromagnetic interference test system in the vehicle to be tested, then use a interference coupling clamp to inject electromagnetic interference into the electronic control system 6.

[0105] Step 302: When the second working state data falls within a second predetermined range, generate a road traffic equipment layout instruction, so that after the user learns the road traffic equipment layout instruction, the user can layout the road traffic equipment.

[0106] Among them, the second predetermined range is the parameters of each device of the corresponding vehicle when the vehicle is fault-free. The second predetermined range can be an empirical value or data obtained through testing many fault-free vehicles and faulty vehicles.

[0107] Furthermore, the second working state data may include a fault diagnosis code, vehicle performance parameters, maximum vehicle speed, maximum climbing gradient, rated speed, idle speed, etc.

[0108] When the second working state data is abnormal, it indicates that there is a fault in the vehicle to be tested and the autonomous driving function test cannot be carried out. Therefore, it is not necessary to layout road traffic equipment for the vehicle to be tested either.

[0109] Furthermore, the problem of the vehicle to be tested can also be analyzed according to the log data recorded by the electronic control system 6.

[0110] In an exemplary embodiment, the present application provides an autonomous vehicle configured with the above-mentioned autonomous driving electromagnetic interference test device.

[0111] In an exemplary embodiment, an electronic control system 6 is provided, and the internal structure diagram of this electronic control system can be as Figure 8As shown in the figure. The electronic control system includes a processor, a memory, an input / output interface (Input / Output, abbreviated 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, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the electronic control system is used to store data related to autonomous driving electromagnetic interference testing. The input / output interface of the electronic control system is used to exchange information between the processor and external devices. 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, it implements a method for autonomous driving electromagnetic interference testing.

[0112] Those skilled in the art can understand that Figure 8 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the electronic control system to which the solution 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 some components, or have different component arrangements.

[0113] In an exemplary embodiment, an electronic control system is further provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the steps in the above method embodiments are implemented.

[0114] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0115] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0116] 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 for analysis, stored data, displayed data, etc.) involved in the present 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 need to comply with relevant regulations.

[0117] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0118] The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.

[0119] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0120] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present 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 electromagnetic interference waveforms in multiple predetermined directions into the automatic driving function electronic control system ECU wiring harness in a coupled 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; 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.

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 autonomous driving electromagnetic interference test device according to any one of claims 1 to 3, 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.

5. 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 4.

6. An electromagnetic interference test method for autonomous driving, characterized in that: The electronic control system for the autonomous driving function used in the autonomous driving electromagnetic interference test device according to any one of claims 1 to 4 comprises: 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; receiving environmental parameters sent by the road traffic equipment, wherein the road traffic equipment is a device arranged on the road in advance 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 automatic driving function, wherein the electromagnetic interference signal is an electromagnetic interference waveform in a plurality of predetermined directions, and the electromagnetic interference waveforms in the plurality of predetermined directions are obtained by separating an original electromagnetic interference waveform by a directional coupler; When the environmental parameter and the interference signal parameter are within a normal range, starting the automatic driving function so that the vehicle to be tested 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.

7. 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 testing method of claim 6.

8. 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 claim 6 is implemented.

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