Automatic test system and method for mine card intelligent driving system simulation environment

Abstract

The invention provides an automatic test system and method for a simulation environment of a mine card intelligent driving system, and the system comprises an automatic test subsystem which is used for obtaining an automatic test instruction, obtaining the vehicle control parameters of a target vehicle, generating a vehicle dispatching instruction, and creating a test case; the ground subsystem is used for controlling a target vehicle to run to a target area according to the vehicle control instruction; the simulation subsystem is used for receiving the vehicle control parameters and the test cases, calling a simulation scene model, and performing analog simulation based on the simulation scene model and in combination with the test cases and the vehicle control parameters to obtain vehicle simulation state information of the target vehicle; and the vehicle-mounted control subsystem is used for receiving the dispatching instruction of the ground subsystem to start the vehicle, stop the vehicle and the like. According to the invention, automatic simulation testing can be realized, so that the simulation testing efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of simulation testing, and in particular relates to an automated testing system and method for a simulation environment of a mining truck intelligent driving system. Background Art

[0002] With the widespread application of intelligent and connected technologies in the transportation industry, intelligent driving of mining trucks has become a natural trend in the development of the mining industry. The intelligent driving system of mining trucks is an automatic driving system based on vehicle-road-cloud collaborative technology, which can realize automatic loading, transportation, unloading and other operations of mining trucks, and improve the production efficiency and safety level of mining areas. The intelligent driving system of mining trucks needs to have key technologies such as wire control technology, environmental perception technology, positioning and navigation technology, path planning technology and decision-making control to realize the perception of the mining environment, the planning of transportation routes and the control of vehicle behavior.

[0003] Simulation testing is one of the important means to accelerate the development and implementation of intelligent driving technology. The simulation test of the intelligent driving system of mining trucks can simulate the complex environment of the mining area and the movement state of the mining truck by establishing a mining area terrain model, a mining truck dynamics model, an intelligent driving system model, etc., to detect the functions and performance of the intelligent driving system and discover potential problems and risks. The simulation test of intelligent driving of mining trucks can also effectively reduce the development cost and risk of intelligent driving, improve the reliability and stability of the intelligent driving system, and provide technical support and data basis for the actual application of intelligent driving. However, for the simulation test of intelligent driving of mining trucks, manual testing methods have been used in the past, but the test case execution operation steps in the self-test process are cumbersome, the simulation test tool lacks centralized management and configuration, and the simulation scenario library is inconvenient to load. These problems lead to low utilization of the test environment, and further lead to problems such as long test cycles and low test efficiency of simulation tests. Summary of the invention

[0004] The present invention provides an automated testing system and method for a simulation environment of a mining truck intelligent driving system, so as to solve the problems of long testing cycle and low testing efficiency during manual simulation testing.

[0005] In a first aspect, the present invention provides an automated testing system for a simulation environment of a mining truck intelligent driving system, the system comprising:

[0006] An automated test subsystem, configured to obtain automated test instructions, determine a target vehicle and a target area for automated testing according to the automated test instructions, obtain vehicle control parameters of the target vehicle, generate a vehicle dispatch instruction in combination with the target area and the vehicle control parameters, and create a test case based on the automated test instructions;

[0007] A ground subsystem, connected to the automated test subsystem, configured to receive the vehicle dispatching instruction and generate a vehicle control instruction, and control the target vehicle to run to the target area according to the vehicle control instruction;

[0008] A simulation subsystem connected to the automated test subsystem, configured to receive the vehicle control parameters and the test case, call a simulation scenario model corresponding to the test case based on the automated test instruction, perform simulation based on the simulation scenario model and in combination with the test case and the vehicle control parameters, and obtain vehicle simulation state information of the target vehicle;

[0009] The vehicle-mounted control subsystem is connected to the ground subsystem and the simulation subsystem, and is used to receive the vehicle simulation state information, perform simulation testing based on the vehicle simulation state information, and obtain automated test results.

[0010] Optionally, the automated testing subsystem includes:

[0011] An instruction analysis module is used to obtain an automated test instruction, analyze the automated test instruction through semantic analysis, determine a target vehicle and a target area for automated testing, and obtain vehicle control parameters of the target vehicle;

[0012] An instruction generation module, connected to the instruction analysis module, for generating a vehicle dispatch instruction in combination with the target area and the vehicle control parameter;

[0013] An editing module, connected to the instruction analysis module and the test case library, for receiving the automated test instruction, and creating and organizing test cases in a graphical manner according to the automated test instruction;

[0014] A configuration module, connected to the editing module, for adding configuration files to the test cases;

[0015] The test module is connected to the instruction analysis module, the editing module and the simulation subsystem, and is used to receive the vehicle control parameters, and send the vehicle control parameters and the test case configured with the configuration file to the simulation subsystem, so that the simulation subsystem performs simulation of the automated test.

[0016] Optionally, the simulation subsystem includes:

[0017] A scenario model library, used to store all simulation scenario models applicable to all the test cases;

[0018] A simulation scenario calling module, connected to the test module, for calling the simulation scenario model corresponding to the test case from the scenario model library based on the automated test instruction, wherein the simulation scenario model includes a dynamic scenario model and a static scenario model;

[0019] A real-time simulation device, connected to the test module and the simulation scenario calling module, configured to receive the vehicle control parameters and the test case, configure a static simulation scenario in combination with the vehicle control parameters and the static scenario model, and configure a dynamic simulation scenario in combination with the dynamic scenario model and the test case;

[0020] A dynamics simulation module, connected to the real-time simulation device, for performing dynamics simulation based on the static simulation scenario and using vehicle dynamics to obtain vehicle dynamics simulation information;

[0021] A dynamic simulation module, connected to the real-time simulation device, for performing dynamic simulation according to the dynamic simulation scenario to obtain vehicle dynamic simulation information of the target vehicle under a plurality of test cases;

[0022] The information aggregation module is connected to the dynamic simulation module and the vehicle dynamic simulation module, and is used to merge the vehicle dynamic simulation information and the vehicle dynamic simulation information into vehicle simulation state information.

[0023] Optionally, the automated testing subsystem further includes:

[0024] An information collection module, connected to the ground subsystem and the simulation subsystem, for obtaining the vehicle operation monitoring status information fed back by the ground subsystem when executing the vehicle control instruction, and the automated test result transmitted by the simulation subsystem;

[0025] The result analysis module is connected to the information collection module and is used to combine the vehicle operation monitoring status information and the automated test result analysis to obtain a test report of the automated test.

[0026] Optionally, the ground subsystem includes:

[0027] A positioning module, connected to the automated test subsystem, for receiving the vehicle dispatching instruction and responding to the vehicle dispatching instruction to obtain the vehicle positioning information of the target vehicle and the area positioning information of the target area;

[0028] A path planning module, connected to the positioning module, for combining the vehicle positioning information and the area positioning information to generate an optimal moving route for the target vehicle to move to the target area;

[0029] The ground control module is connected to the path planning module and is used to generate a vehicle control instruction according to the optimal moving route, and control the target vehicle to the target area according to the vehicle control instruction.

[0030] In a second aspect, the present invention further provides an automated testing method for a simulation environment of a mining truck intelligent driving system, comprising the following steps:

[0031] Obtaining an automated test instruction, determining a target vehicle and a target area for automated testing according to the automated test instruction, obtaining a vehicle control parameter of the target vehicle, generating a vehicle dispatch instruction in combination with the target area and the vehicle control parameter, and creating a test case based on the automated test instruction;

[0032] Generate a vehicle control instruction based on the vehicle dispatch instruction, and control the target vehicle to run to the target area according to the vehicle control instruction;

[0033] Calling the simulation scenario model corresponding to the test case based on the automated test instruction, performing simulation based on the simulation scenario model and in combination with the test case and the vehicle control parameters, to obtain vehicle simulation state information of the target vehicle;

[0034] A simulation test is performed based on the vehicle simulation state information to obtain an automated test result.

[0035] Optionally, the step of obtaining an automated test instruction, determining a target vehicle and a target area for automated testing according to the automated test instruction, obtaining a vehicle control parameter of the target vehicle, generating a vehicle dispatch instruction in combination with the target area and the vehicle control parameter, and creating a test case based on the automated test instruction comprises the following steps:

[0036] Obtaining an automated test instruction, analyzing the automated test instruction through semantic analysis, determining a target vehicle and a target area for automated testing, and obtaining vehicle control parameters of the target vehicle;

[0037] generating a vehicle dispatch instruction in combination with the target area and the vehicle control parameter;

[0038] Creating and organizing test cases in a graphical manner according to the automated test instructions;

[0039] Add a configuration file for the test case in question.

[0040] Optionally, calling the simulation scenario model corresponding to the test case based on the automated test instruction, performing simulation based on the simulation scenario model and in combination with the test case and the vehicle control parameters to obtain the vehicle simulation state information of the target vehicle includes the following steps:

[0041] Based on the automated test instruction, a corresponding simulation scenario model is called from a preset scenario model library, wherein the scenario model library is used to store all simulation scenario models applicable to all the test cases, and the simulation scenario models include dynamic scenario models and static scenario models;

[0042] Combining the vehicle control parameters with the static scenario model to configure a static simulation scenario, and combining the dynamic scenario model with the test case to configure a dynamic simulation scenario;

[0043] Based on the static simulation scenario and using vehicle dynamics, dynamic simulation is performed to obtain vehicle dynamics simulation information;

[0044] Perform dynamic simulation according to the dynamic simulation scenario to obtain vehicle dynamic simulation information of the target vehicle under a plurality of test cases;

[0045] The vehicle dynamics simulation information and the vehicle dynamics simulation information are combined into vehicle simulation state information.

[0046] Optionally, the method further comprises the following steps:

[0047] Acquiring vehicle operation monitoring status information fed back when executing the vehicle control command;

[0048] The test report of the automated test is obtained by combining the vehicle operation monitoring status information and the automated test result analysis.

[0049] Optionally, generating a vehicle control instruction based on the vehicle dispatch instruction, and controlling the target vehicle to run to the target area according to the vehicle control instruction comprises the following steps:

[0050] Responding to the vehicle dispatch instruction to obtain vehicle positioning information of the target vehicle and area positioning information of the target area;

[0051] Combining the vehicle positioning information and the area positioning information to generate an optimal movement route for the target vehicle to move to the target area;

[0052] A vehicle control instruction is generated according to the optimal moving route, and the target vehicle is controlled to the target area according to the vehicle control instruction.

[0053] The beneficial effects of the present invention are:

[0054] According to the requirements of automated test instructions, algorithms or tools are used to automatically generate test cases covering various scenarios and conditions, including input data, expected output, test items, etc. Different simulation scenario models are automatically loaded for testing according to the test cases, and according to the test cases, the simulation platform and equipment are used to automatically simulate the mining environment and mining truck behavior, and finally obtain automated test results. Therefore, through the automated testing system of the simulation environment of the mining truck intelligent driving system in the present invention, the automated testing of the mining truck intelligent driving simulation test can be realized, thereby improving the test efficiency and quality, saving manpower and time costs, and enhancing the repeatability and reliability of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 The system architecture of the automated testing system for the simulation environment of the mining truck intelligent driving system in one embodiment of the present invention is as follows: Figure 1 .

[0056] Figure 2 The system architecture of the automated testing system for the simulation environment of the mining truck intelligent driving system in one embodiment of the present invention is as follows: Figure 2 .

[0057] Figure 3 The figure is a flow chart of the automated testing method for the simulation environment of the mining truck intelligent driving system of the present invention. DETAILED DESCRIPTION

[0058] The invention discloses an automatic testing system for a simulation environment of a mining truck intelligent driving system.

[0059] Reference Figure 1 The automated testing system for the simulation environment of the mining truck intelligent driving system includes:

[0060] An automated test subsystem, used to obtain automated test instructions, determine a target vehicle and a target area for automated testing according to the automated test instructions, obtain vehicle control parameters of the target vehicle, generate a vehicle dispatch instruction in combination with the target area and the vehicle control parameters, and create a test case based on the automated test instructions;

[0061] The ground subsystem is connected to the automatic test subsystem, and is used to receive vehicle dispatching instructions and generate vehicle control instructions, and control the target vehicle to run to the target area according to the vehicle control instructions;

[0062] The simulation subsystem is connected to the automated test subsystem and is used to receive vehicle control parameters and test cases, call the simulation scenario model corresponding to the test case based on the automated test instruction, perform simulation based on the simulation scenario model and in combination with the test case and vehicle control parameters, and obtain vehicle simulation state information of the target vehicle;

[0063] The vehicle-mounted control subsystem is connected to the ground subsystem and the simulation subsystem, and is used to receive vehicle simulation status information, perform simulation testing based on the vehicle simulation status information, and obtain automated test results.

[0064] In this embodiment, the automated testing subsystem also includes a LIB library file, which is developed using Python or other programming languages. The automated testing subsystem communicates with the ground subsystem front-end web interface using the HTTP / RESTful Api protocol, uses the requests library to send RESTful Api requests, and uses the json library to process JSON data.

[0065] The test operator can issue automated test instructions through the UI interactive interface of the automated test subsystem, determine the target vehicle and target area for automated testing according to the automated test instructions, and obtain the vehicle control parameters of the target vehicle. The automated test subsystem sends vehicle parameters and instructions for loading simulation scenarios to the simulation subsystem, and the automated test subsystem sends a series of vehicle dispatch instructions such as logging in, making debugging plans, map switching, selecting vehicles, starting engines, and starting vehicles to the ground subsystem. The simulation subsystem sends vehicle simulation status information such as vehicle status and sensor information to the vehicle control subsystem, and the vehicle control subsystem completes the automated simulation test.

[0066] In one embodiment, referring to Figure 2 The automated test system of the mining truck intelligent driving system simulation environment also includes a mining equipment terminal, which is connected to the ground subsystem. The automated test subsystem generates equipment collaborative control instructions based on vehicle dispatch instructions and automated test instructions, and sends the equipment collaborative control instructions to the ground subsystem. The ground subsystem then sends the equipment collaborative control instructions to the mining equipment terminal, so that the mining equipment terminal responds to the equipment collaborative control instructions and controls large excavators and other mining equipment to perform collaborative operation simulation tests. The mining equipment terminal can also feedback control information to the automated test subsystem through the ground subsystem.

[0067] In one of the implementation modes, the vehicle-mounted control subsystem sends automated test result information such as obstacles and vehicle real-time positioning information to the ground subsystem. The vehicle-mounted control subsystem feeds back vehicle operation status information such as traction, braking, and steering of the target vehicle to the simulation subsystem. The simulation subsystem then feeds back the vehicle operation status information to the automated test system. The ground subsystem feeds back vehicle monitoring information such as obstacle information and real-time positioning information to the automated test subsystem. The automated test subsystem judges the results based on the feedback information, records the feedback log data, completes the test and generates a test report.

[0068] The implementation principle of this embodiment is:

[0069] According to the requirements of automated test instructions, algorithms or tools are used to automatically generate test cases covering various scenarios and conditions, including input data, expected output, test items, etc. Different simulation scenario models are automatically loaded for testing according to the test cases, and according to the test cases, the simulation platform and equipment are used to automatically simulate the mining environment and mining truck behavior, and finally obtain automated test results. Therefore, through the automated testing system of the simulation environment of the mining truck intelligent driving system in the present invention, the automated testing of the mining truck intelligent driving simulation test can be realized, thereby improving the test efficiency and quality, saving manpower and time costs, and enhancing the repeatability and reliability of the test.

[0070] In one embodiment, the automated testing subsystem includes:

[0071] An instruction analysis module is used to obtain an automated test instruction, analyze the automated test instruction through semantic analysis, determine a target vehicle and a target area for automated testing, and obtain vehicle control parameters of the target vehicle;

[0072] An instruction generation module, connected to the instruction analysis module, is used to generate a vehicle dispatch instruction in combination with a target area and a vehicle control parameter;

[0073] The editing module is connected with the instruction analysis module and the test case library, and is used to receive the automated test instructions, and create and organize test cases according to the automated test instructions in a graphical manner;

[0074] Configuration module, connected with the editing module, is used to add configuration files for test cases;

[0075] The test module is connected to the instruction analysis module, the editing module and the simulation subsystem, and is used to receive vehicle control parameters, and send the vehicle control parameters and test cases configured with configuration files to the simulation subsystem, so that the simulation subsystem can perform simulation of automated testing.

[0076] In this embodiment, the automated test instructions are obtained through the instruction analysis module, and the automated test instructions are analyzed through semantic analysis to determine the target vehicle and target area for automated testing, and the vehicle control parameters of the target vehicle are obtained. The instruction generation module generates a vehicle dispatch instruction based on the area coordinates of the target area and the vehicle control parameters such as the speed, acceleration, and steering angle of the target vehicle. For example, if the vehicle needs to drive straight to the target area, a straight driving instruction can be generated; if the vehicle needs to turn to reach the target area, a turning instruction can be generated.

[0077] The configuration module is used to configure the test object and test environment settings in the test case, such as adding the required files (.a2l, .dbc, *.mdl, etc.). The specific items that need to be configured include VTD installation path, project path, host IP, port number, etc. The test module and the simulation subsystem send and receive data through the CAN bus, following the provisions of the CAN bus protocol, such as message format, frame structure, signal definition, arbitration mechanism, etc. The connection between the test module and the simulation subsystem requires the use of NI's ECU Test System as the middle layer, and data exchange through TCP / IP or UDP protocol.

[0078] In one embodiment, the automated testing subsystem further includes:

[0079] The information collection module is connected to the ground subsystem and the simulation subsystem, and is used to obtain the vehicle operation monitoring status information fed back by the ground subsystem when executing the vehicle control instructions, as well as the automated test results transmitted by the simulation subsystem; the result analysis module is connected to the information collection module, and is used to combine the vehicle operation monitoring status information and the automated test result analysis to obtain the test report of the automated test. Through the settings of the information collection module and the result analysis module, the automated test subsystem judges the results based on the feedback information, records the feedback log data, and performs additional checks and verifications after the test is executed to generate a detailed test report, and finally the test report can be displayed and stored in interactive or file form.

[0080] In one embodiment, the simulation subsystem includes:

[0081] Scenario model library, used to store all simulation scenario models applicable to all test cases;

[0082] A simulation scenario calling module is connected to the test module and is used to call the simulation scenario model corresponding to the test case from the scenario model library based on the automated test instruction. The simulation scenario model includes a dynamic scenario model and a static scenario model.

[0083] A real-time simulation device is connected to the test module and the simulation scenario calling module, and is used to receive vehicle control parameters and test cases, configure a static simulation scenario in combination with the vehicle control parameters and the static scenario model, and configure a dynamic simulation scenario in combination with the dynamic scenario model and the test cases;

[0084] A dynamics simulation module is connected to the real-time simulation device and is used to perform dynamics simulation based on a static simulation scenario and using vehicle dynamics to obtain vehicle dynamics simulation information;

[0085] A dynamic simulation module is connected to the real-time simulator and is used to perform dynamic simulation according to a dynamic simulation scenario to obtain vehicle dynamic simulation information of a target vehicle under multiple test cases;

[0086] The information aggregation module is connected with the dynamic simulation module and the vehicle dynamic simulation module, and is used to merge the vehicle dynamic simulation information and the vehicle dynamic simulation information into vehicle simulation state information.

[0087] In this embodiment, the simulation scenario calling module calls the simulation scenario model corresponding to the test case from the scenario model library based on the automated test instruction, and the simulation real-time device is used to receive vehicle control parameters, simulation scenario models and test cases, and receives input data from the test module through the connection with the test module. The simulation real-time device can perform simulation calculations at predetermined time intervals according to real-time requirements. The simulation scenario model includes a dynamic scenario model and a static scenario model. The dynamic scenario model describes the dynamic environment around the vehicle, such as other vehicles, obstacles, etc. The static scenario model describes the static environment around the vehicle, such as the road structure of the target area. By combining the vehicle control parameters and the static scenario model, a static simulation scenario can be configured.

[0088] The dynamics simulation module is connected to the real-time simulator, and performs dynamics simulation based on static simulation scenarios and using vehicle dynamics. According to the physical characteristics and control parameters of the vehicle, the vehicle's motion trajectory, speed, acceleration and other dynamic information are calculated. The dynamic simulation module is connected to the real-time simulator, and performs dynamic simulation according to the dynamic simulation scenario. It can simulate the behavior of the vehicle in different scenarios, such as obstacle avoidance and parking, according to the test cases and dynamic scenario models. Through the dynamic simulation module, the vehicle dynamic simulation information of the target vehicle under multiple test cases can be obtained. The information summary module is connected to the dynamic simulation module and the dynamic simulation module, and is used to merge the vehicle dynamics simulation information and the vehicle dynamics simulation information into the vehicle simulation state information. The information obtained by the dynamic simulation module and the dynamic simulation module is integrated and summarized to generate the comprehensive simulation state information of the vehicle, such as position, speed, acceleration, etc.

[0089] In one embodiment, the ground subsystem includes:

[0090] A positioning module, connected to the automated test subsystem, for receiving a vehicle dispatching instruction and responding to the vehicle dispatching instruction to obtain vehicle positioning information of a target vehicle and regional positioning information of a target region;

[0091] A path planning module, connected to the positioning module, is used to generate an optimal moving route for the target vehicle to move to the target area by combining the vehicle positioning information and the area positioning information;

[0092] The ground control module is connected to the path planning module and is used to generate a vehicle control instruction according to the optimal moving route and control the target vehicle to the target area according to the vehicle control instruction.

[0093] In the present embodiment, the positioning module is connected with the automated test subsystem, for receiving the vehicle dispatching instruction, and responding to the vehicle dispatching instruction to obtain the vehicle positioning information of the target vehicle and the regional positioning information of the target area. The positioning module can obtain the current position information of the target vehicle through the vehicle-mounted positioning system or other positioning technologies, and transmit the position information to other modules through the communication interface. The path planning module can calculate the optimal moving path according to the current position of the vehicle and the position of the target area using a path planning algorithm (such as A* algorithm, Dijkstra algorithm, etc.). The optimal path can take into account factors such as the physical characteristics of the vehicle, road conditions, etc., to ensure that the vehicle arrives at the target area safely and efficiently.

[0094] The ground control module is connected to the path planning module, and is used to generate vehicle control instructions according to the optimal moving route, and control the target vehicle to the target area according to the vehicle control instructions. The ground control module can generate vehicle control instructions based on the optimal path obtained by the path planning module, combined with the physical characteristics and control parameters of the vehicle. The control instructions may include parameters such as speed, acceleration, steering angle, etc. to guide the movement of the vehicle. The ground control module can send the generated control instructions to the vehicle control system through the communication interface with the vehicle control system to achieve control of the target vehicle.

[0095] The invention also discloses an automated testing method for a simulation environment of a mining truck intelligent driving system.

[0096] Reference Figure 3 The automated testing method of the simulation environment of the mining truck intelligent driving system specifically includes the following steps:

[0097] S101. Obtain automated test instructions, determine a target vehicle and a target area for automated testing according to the automated test instructions, obtain vehicle control parameters of the target vehicle, generate a vehicle dispatch instruction in combination with the target area and the vehicle control parameters, and create a test case based on the automated test instructions.

[0098] S102. Generate a vehicle control instruction based on the vehicle dispatch instruction, and control the target vehicle to run to the target area according to the vehicle control instruction.

[0099] S103. Call the simulation scenario model corresponding to the test case based on the automated test instruction, perform simulation based on the simulation scenario model and in combination with the test case and vehicle control parameters, and obtain vehicle simulation state information of the target vehicle.

[0100] S104. Perform simulation testing based on the vehicle simulation state information to obtain automated test results.

[0101] In this embodiment, according to the requirements of the automated test instructions, algorithms or tools are used to automatically generate test cases covering various scenarios and conditions, including input data, expected output, test items, etc. Different simulation scenario models are automatically loaded for testing according to the test cases, and according to the test cases, the simulation platform and equipment are used to automatically simulate the mining environment and mining truck behavior, and finally obtain automated test results. Therefore, through the automated testing method of the simulation environment of the mining truck intelligent driving system in the present invention, the automated testing of the mining truck intelligent driving simulation test can be realized, thereby improving the test efficiency and quality, saving manpower and time costs, and enhancing the repeatability and reliability of the test.

[0102] In one implementation manner, step S101 specifically includes the following steps:

[0103] Obtaining automated test instructions, analyzing the automated test instructions through semantic analysis, determining a target vehicle and a target area for automated testing, and obtaining vehicle control parameters of the target vehicle;

[0104] Generate vehicle dispatch instructions based on target area and vehicle control parameters;

[0105] Create and organize test cases based on automated test instructions and in a graphical manner;

[0106] Add configuration files for test cases.

[0107] In one implementation manner, step S103 specifically includes the following steps:

[0108] Based on the automated test instructions, the corresponding simulation scenario model is called from a preset scenario model library, where the scenario model library is used to store all simulation scenario models applicable to all test cases, and the simulation scenario models include dynamic scenario models and static scenario models;

[0109] Combine vehicle control parameters and static scenario models to configure static simulation scenarios, and combine dynamic scenario models and test cases to configure dynamic simulation scenarios;

[0110] Based on the static simulation scenario and using vehicle dynamics to perform dynamic simulation, vehicle dynamics simulation information is obtained;

[0111] Perform dynamic simulation according to the dynamic simulation scenario to obtain vehicle dynamic simulation information of the target vehicle under multiple test cases;

[0112] The vehicle dynamics simulation information and the vehicle dynamics simulation information are combined into vehicle simulation state information.

[0113] In one embodiment, after step S104, the following steps are further specifically included:

[0114] Obtain vehicle operation monitoring status information fed back when executing vehicle control instructions;

[0115] The test report of the automated test is obtained by combining the vehicle operation monitoring status information and the automated test result analysis.

[0116] In one implementation manner, step S102 specifically includes the following steps:

[0117] Responding to the vehicle dispatch instruction to obtain vehicle positioning information of the target vehicle and area positioning information of the target area;

[0118] Combining the vehicle positioning information and the regional positioning information to generate the optimal movement route for the target vehicle to move to the target area;

[0119] A vehicle control instruction is generated according to the optimal moving route, and the target vehicle is controlled to the target area according to the vehicle control instruction.

[0120] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as above, which are not provided in detail for the sake of simplicity.

[0121] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. An automated testing system for a mining truck intelligent driving system simulation environment, characterized in that: The system comprises: An automated test subsystem, configured to obtain automated test instructions, determine a target vehicle and a target area for automated testing according to the automated test instructions, obtain vehicle control parameters of the target vehicle, generate a vehicle dispatch instruction in combination with the target area and the vehicle control parameters, and create a test case based on the automated test instructions; A ground subsystem, connected to the automated test subsystem, configured to receive the vehicle dispatching instruction and generate a vehicle control instruction, and control the target vehicle to run to the target area according to the vehicle control instruction; A simulation subsystem connected to the automated test subsystem, configured to receive the vehicle control parameters and the test case, call a simulation scenario model corresponding to the test case based on the automated test instruction, perform simulation based on the simulation scenario model and in combination with the test case and the vehicle control parameters, and obtain vehicle simulation state information of the target vehicle; The vehicle-mounted control subsystem is connected to the ground subsystem and the simulation subsystem, and is used to receive the vehicle simulation state information, perform simulation testing based on the vehicle simulation state information, and obtain automated test results.

2. The automated testing system for the simulation environment of the mining truck intelligent driving system according to claim 1 is characterized in that: The automated testing subsystem comprises: An instruction analysis module is used to obtain an automated test instruction, analyze the automated test instruction through semantic analysis, determine a target vehicle and a target area for automated testing, and obtain vehicle control parameters of the target vehicle; An instruction generation module, connected to the instruction analysis module, for generating a vehicle dispatch instruction in combination with the target area and the vehicle control parameter; An editing module, connected to the instruction analysis module and the test case library, for receiving the automated test instruction, and creating and organizing test cases in a graphical manner according to the automated test instruction; A configuration module, connected to the editing module, for adding configuration files to the test cases; The test module is connected to the instruction analysis module, the editing module and the simulation subsystem, and is used to receive the vehicle control parameters, and send the vehicle control parameters and the test case configured with the configuration file to the simulation subsystem, so that the simulation subsystem performs simulation of the automated test.

3. The automated testing system for the simulation environment of the mining truck intelligent driving system according to claim 2 is characterized in that: The simulation subsystem comprises: A scenario model library, used to store all simulation scenario models applicable to all the test cases; A simulation scenario calling module, connected to the test module, for calling the simulation scenario model corresponding to the test case from the scenario model library based on the automated test instruction, wherein the simulation scenario model includes a dynamic scenario model and a static scenario model; A real-time simulation device, connected to the test module and the simulation scenario calling module, configured to receive the vehicle control parameters and the test case, configure a static simulation scenario in combination with the vehicle control parameters and the static scenario model, and configure a dynamic simulation scenario in combination with the dynamic scenario model and the test case; A dynamics simulation module, connected to the real-time simulation device, for performing dynamics simulation based on the static simulation scenario and using vehicle dynamics to obtain vehicle dynamics simulation information; A dynamic simulation module, connected to the real-time simulation device, for performing dynamic simulation according to the dynamic simulation scenario to obtain vehicle dynamic simulation information of the target vehicle under a plurality of test cases; The information aggregation module is connected to the dynamic simulation module and the vehicle dynamic simulation module, and is used to merge the vehicle dynamic simulation information and the vehicle dynamic simulation information into vehicle simulation state information.

4. The automated testing system for the simulation environment of the mining truck intelligent driving system according to claim 2 is characterized in that: The automated testing subsystem also includes: An information collection module, connected to the ground subsystem and the simulation subsystem, for obtaining the vehicle operation monitoring status information fed back by the ground subsystem when executing the vehicle control instruction, and the automated test result transmitted by the simulation subsystem; The result analysis module is connected to the information collection module and is used to combine the vehicle operation monitoring status information and the automated test result analysis to obtain a test report of the automated test.

5. The automated testing system for the simulation environment of the mining truck intelligent driving system according to claim 1 is characterized in that: The ground subsystem includes: A positioning module, connected to the automated test subsystem, for receiving the vehicle dispatching instruction and responding to the vehicle dispatching instruction to obtain the vehicle positioning information of the target vehicle and the area positioning information of the target area; A path planning module, connected to the positioning module, for combining the vehicle positioning information and the area positioning information to generate an optimal moving route for the target vehicle to move to the target area; The ground control module is connected to the path planning module and is used to generate a vehicle control instruction according to the optimal moving route, and control the target vehicle to the target area according to the vehicle control instruction.

6. An automated testing method for a simulation environment of a mining truck intelligent driving system, characterized in that: The steps include: Obtaining an automated test instruction, determining a target vehicle and a target area for automated testing according to the automated test instruction, obtaining a vehicle control parameter of the target vehicle, generating a vehicle dispatch instruction in combination with the target area and the vehicle control parameter, and creating a test case based on the automated test instruction; Generate a vehicle control instruction based on the vehicle dispatch instruction, and control the target vehicle to run to the target area according to the vehicle control instruction; Calling the simulation scenario model corresponding to the test case based on the automated test instruction, performing simulation based on the simulation scenario model and in combination with the test case and the vehicle control parameters, to obtain vehicle simulation state information of the target vehicle; A simulation test is performed based on the vehicle simulation state information to obtain an automated test result.

7. The automated testing method for the simulation environment of the mining truck intelligent driving system according to claim 6 is characterized in that: The step of obtaining an automated test instruction, determining a target vehicle and a target area for automated testing according to the automated test instruction, obtaining a vehicle control parameter of the target vehicle, generating a vehicle dispatch instruction in combination with the target area and the vehicle control parameter, and creating a test case based on the automated test instruction comprises the following steps: Obtaining an automated test instruction, analyzing the automated test instruction through semantic analysis, determining a target vehicle and a target area for automated testing, and obtaining vehicle control parameters of the target vehicle; generating a vehicle dispatch instruction in combination with the target area and the vehicle control parameter; Creating and organizing test cases in a graphical manner according to the automated test instructions; Add a configuration file for the test case in question.

8. The automated testing method for the simulation environment of the mining truck intelligent driving system according to claim 7 is characterized in that: The step of calling the simulation scenario model corresponding to the test case based on the automated test instruction, performing simulation based on the simulation scenario model and in combination with the test case and the vehicle control parameters to obtain the vehicle simulation state information of the target vehicle comprises the following steps: Based on the automated test instruction, a corresponding simulation scenario model is called from a preset scenario model library, wherein the scenario model library is used to store all simulation scenario models applicable to all the test cases, and the simulation scenario models include dynamic scenario models and static scenario models; Combining the vehicle control parameters with the static scenario model to configure a static simulation scenario, and combining the dynamic scenario model with the test case to configure a dynamic simulation scenario; Based on the static simulation scenario and using vehicle dynamics, dynamic simulation is performed to obtain vehicle dynamics simulation information; Perform dynamic simulation according to the dynamic simulation scenario to obtain vehicle dynamic simulation information of the target vehicle under a plurality of test cases; The vehicle dynamics simulation information and the vehicle dynamics simulation information are combined into vehicle simulation state information.

9. The automated testing method for the simulation environment of the mining truck intelligent driving system according to claim 6 is characterized in that: The method further comprises the steps of: Acquiring vehicle operation monitoring status information fed back when executing the vehicle control command; The test report of the automated test is obtained by combining the vehicle operation monitoring status information and the automated test result analysis.

10. The automated testing method for the simulation environment of the mining truck intelligent driving system according to claim 6 is characterized in that: Generating a vehicle control instruction based on the vehicle dispatch instruction and controlling the target vehicle to run to the target area according to the vehicle control instruction comprises the following steps: Responding to the vehicle dispatch instruction to obtain vehicle positioning information of the target vehicle and area positioning information of the target area; Combining the vehicle positioning information and the area positioning information to generate an optimal movement route for the target vehicle to move to the target area; A vehicle control instruction is generated according to the optimal moving route, and the target vehicle is controlled to the target area according to the vehicle control instruction.

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