Vehicle drive-by-wire evaluation method, system and device and storage medium

Abstract

The invention provides a vehicle drive-by-wire evaluation method, system and device and a storage medium, and relates to the technical field of computers, in particular to the technical fields of artificial intelligence, automatic driving, software development and evaluation and the like. According to the specific implementation scheme, user operation information is received; converting the user operation information into a detection command; converting the detection command into one or more chassis control instructions; the one or more chassis control instructions are sent, and chassis hardware state information uploaded by a vehicle control bus is received; and calculating the chassis hardware state information to obtain a detection result. According to the invention, effective evaluation of the drive-by-wire performance of the vehicle can be realized.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to technical fields such as artificial intelligence, autonomous driving, and software development and evaluation. Background Art

[0002] The implementation of the autonomous driving system requires the adaptation of the vehicle control bus (such as the Controller Area Network (CAN or CAN-bus)) driver and chassis to ensure that the control instructions issued by the autonomous driving software layer can be accurately transmitted to the vehicle chassis, and that the vehicle chassis can accurately execute the control instructions and respond as expected. Therefore, how to evaluate the vehicle's wire control performance is a technical problem that needs to be solved. Summary of the invention

[0003] The present disclosure provides a vehicle control-by-wire evaluation method, system, device and storage medium.

[0004] According to one aspect of the present disclosure, a vehicle control-by-wire evaluation method is provided, comprising:

[0005] Receive user operation information;

[0006] Convert the user operation information into a detection command;

[0007] converting the detection command into one or more chassis control instructions;

[0008] Sending the one or more chassis control instructions and receiving chassis hardware status information uploaded by the vehicle control bus;

[0009] The chassis hardware status information is calculated to obtain a detection result.

[0010] According to another aspect of the present disclosure, a vehicle control-by-wire evaluation system is provided, comprising:

[0011] A front-end device, used for receiving user operation information;

[0012] The back-end device is used to convert the user operation information into a detection command; convert the detection command into one or more chassis control instructions; send the one or more chassis control instructions, receive chassis hardware status information uploaded by the vehicle control bus; calculate the chassis hardware status information to obtain a detection result.

[0013] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any method in the embodiments of the present disclosure.

[0017] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute any method according to the embodiments of the present disclosure.

[0018] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, which implements any method according to the embodiments of the present disclosure when executed by a processor.

[0019] The present invention discloses a vehicle control-by-wire evaluation method, which converts user operation information into detection commands, and then converts the detection commands into chassis control instructions; sends the chassis control instructions to the vehicle control bus, and receives the chassis hardware status information uploaded by the vehicle control bus to obtain the detection results. It can test whether the control instructions issued by the autonomous driving software layer can be accurately transmitted to the vehicle chassis, and test whether the vehicle chassis can accurately execute the control instructions to make an expected response, thereby achieving effective evaluation of the vehicle control-by-wire performance.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0022] Figure 1 is a flow chart of an implementation of a vehicle control-by-wire evaluation method according to an embodiment of the present disclosure;

[0023] Figure 2 is a schematic diagram of the overall architecture of a vehicle control-by-wire evaluation according to an embodiment of the present disclosure;

[0024] Figure 3 is a schematic diagram of display content of a software layer according to an embodiment of the present disclosure;

[0025] Figure 4 is a flow chart of implementing a conversion detection command according to an embodiment of the present disclosure;

[0026] Figure 5 is a schematic diagram of a process of issuing chassis control instructions and obtaining detection results in a manual mode according to an embodiment of the present disclosure;

[0027] Figure 6 is a schematic diagram of a process of issuing chassis control instructions and obtaining detection results in an automatic mode according to an embodiment of the present disclosure;

[0028] Figure 7 It is a schematic diagram of the process of issuing chassis control instructions and obtaining detection results in a continuous mode according to an embodiment of the present disclosure;

[0029] Figure 8 is a schematic diagram of a detection result according to an embodiment of the present disclosure;

[0030] Fig. 9 is a structural schematic diagram of a vehicle control-by-wire evaluation system 900 according to an embodiment of the present disclosure;

[0031] Fig.10 is a structural schematic diagram of a vehicle control-by-wire evaluation system 1000 according to an embodiment of the present disclosure;

[0032] Fig.11 A schematic block diagram of an example electronic device 1100 is shown that can be used to implement embodiments of the present disclosure. DETAILED DESCRIPTION

[0033] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0034] The “and / or” in the embodiments of the present disclosure indicates that three relationships may exist. For example, A and / or B may indicate the following three situations: A exists alone, A and B exist at the same time, and B exists alone. The term “at least one” herein indicates any combination of at least two of any one or more of a plurality of types. For example, at least one of A, B, and C may indicate any one or more elements selected from the set consisting of A, B, and C. The terms “first” and “second” herein refer to and distinguish between multiple similar technical terms, and do not mean to limit the order or to limit the meaning to only two. For example, the first feature and the second feature refer to two types / two features. The first feature may be one or more, and the second feature may also be one or more.

[0035] Drive-by-Wire is a technology that controls the various systems of a vehicle through electronic signals rather than traditional mechanical connections. This means that control instructions are transmitted through electrical signals without the need for physical connections.

[0036] The implementation of the autonomous driving system requires the adaptation of the CAN-bus driver and chassis to ensure that the control instructions issued by the autonomous driving software layer can be accurately transmitted to the chassis, and that the chassis can accurately execute the control instructions and respond as expected. Existing vehicle control-by-wire evaluation and debugging tools lack the ability to automatically issue control instructions and analyze and evaluate the results returned by the chassis, and require users to rely on third-party hardware; these lacking capabilities are the key capabilities required for the vehicle chassis to adapt to the autonomous driving system.

[0037] Specifically, existing vehicle control-by-wire evaluation methods have a certain learning cost for users, and are generally sold as a set of hardware and software; however, they do not analyze chassis data or provide standards for whether the test is qualified, so there is no way to provide intuitive feedback on the compatibility of the autonomous driving system software and chassis.

[0038] Based on the current background, the disclosed embodiment proposes a vehicle-by-wire control evaluation method, which can realize the vehicle chassis-by-wire control evaluation of the autonomous driving system, and help vehicle engineers quickly locate vehicle chassis problems in the adaptation of the autonomous driving system. The vehicle-by-wire control evaluation method proposed in the disclosed embodiment interactively detects the chassis steering wheel, gear position, speed, brake, throttle, handbrake, and forward and backward automatic handshake, and can intuitively feedback the detection results.

[0039] Figure 1 is a flow chart of a vehicle control-by-wire evaluation method according to an embodiment of the present disclosure, comprising:

[0040] S110, receiving user operation information;

[0041] S120, converting the user operation information into a detection command;

[0042] S130, converting the detection command into one or more chassis control instructions;

[0043] S140, sending the one or more chassis control instructions, and receiving chassis hardware status information uploaded by the vehicle control bus;

[0044] S150: Calculate the chassis hardware status information to obtain a detection result.

[0045] The disclosed embodiment converts user operation information into detection commands, and then converts the detection commands into chassis control instructions; the chassis control instructions are sent to the vehicle control bus, and the chassis hardware status information uploaded by the vehicle control bus is received to obtain detection results. It is possible to test whether the control instructions issued by the autonomous driving software layer can be accurately transmitted to the vehicle chassis, and whether the vehicle chassis can accurately execute the control instructions to make an expected response, thereby achieving effective evaluation of the vehicle's wire control performance.

[0046] The disclosed embodiment defines a set of front-end and back-end communication messages for a chassis debugging device. The debugging tool supports three modes of detecting chassis problems: manual mode, automatic mode, and continuous mode. It supports detecting various problems in the longitudinal and lateral direction control of the chassis. The overall logic of the system is to embed a set of visual vehicle chassis debugging tools in the autonomous driving system to achieve complete communication from software to chassis drive and then to chassis hardware control. Figure 2 Schematic diagram of the overall architecture of vehicle control-by-wire evaluation according to an embodiment of the present disclosure. Figure 2 As shown, the overall architecture of the system includes a software layer 210, a driver layer 220 and a vehicle chassis 230; wherein, the software layer 210 includes a front-end device (hereinafter referred to as the front-end) 211 and a back-end device (hereinafter referred to as the back-end) 212; the front-end 211 and the back-end 212 are connected using the WebSocket (network socket) protocol, which is a protocol for full-duplex communication on a single Transmission Control Protocol (TCP) connection.

[0047] The backend 212 loads system plug-ins, including an interactive communication module 2121 , a task management module 2122 and a file management module 2123 .

[0048] Among them, the interactive communication module 2121 is divided into two parts: the first part is responsible for the communication between the front end and the back end of the software layer, which is mainly responsible for completing the conversion of user operation information into detection commands, sending the detection commands to the back end, and completing the echo of the detection results calculated by the back end. The second part is responsible for the communication between the back end of the software layer and the chassis driver layer, which is used to convert the detection commands into chassis control instructions and send the chassis control instructions to the chassis driver layer. The above two parts are specifically introduced below.

[0049] The first part is responsible for the communication between the front-end and back-end of the software layer, including the following functions:

[0050] 1. This section designs three modes for users to issue detection commands, including manual mode, automatic mode and continuous mode. Accordingly, in some examples, the user operation information sent by the user includes detection items and detection modes, and the detection mode includes at least one of manual mode, automatic mode and continuous mode.

[0051] Among them, the manual mode requires the debugger to manually issue a single detection command; the automatic mode, that is, automatically issuing multiple detection commands, is implemented based on the streaming communication mode; the continuous mode issues detection commands according to a specific waveform, such as a sin waveform.

[0052] 2. This section defines a message protocol used for communication between the front-end and the back-end, which includes the definition of the detection command and the definition of the detection command result. Specifically:

[0053] (1) The detection command message protocol includes the definition of the detection item (one of seven detection items), the detection mode (one of three command modes), the detection item content format, and the unique identification (ID) of the detection command.

[0054] Accordingly, in some examples, in the embodiments of the present disclosure, converting user operation information into a detection command may include:

[0055] Based on a pre-established detection command message protocol, the user operation information is converted into a detection command, wherein the detection command includes at least one of a detection item, a detection mode, a detection item content, and a detection command identifier.

[0056] By pre-defining a detection command message protocol and generating a detection command according to the detection command message protocol, a detection command in a unified format can be generated, which facilitates the transmission of the detection command between the front end and the back end.

[0057] (2) The detection result message protocol includes the detection result format, the unique ID of the command (corresponding to the ID of the detection command), the command running status, the command execution curve, and the definition of the command storage history.

[0058] Accordingly, in some examples, in the embodiments of the present disclosure, the detection result can also be encapsulated based on a pre-established detection result message protocol to obtain a detection result message; the detection result message includes at least one of the detection item result, the command running status, the command execution curve, the command storage history record, and the detection command identifier. Similarly, by pre-defining the detection result message protocol and generating the detection result message according to the detection result message protocol, a unified format of detection results can be generated, which facilitates the transmission of the detection results between the front end and the back end.

[0059] Specifically, in some examples, the message formats of the detection contents of the seven detection items are different. For example, the detection contents of the handshake detection item are automatic forward and backward movement and taking over the vehicle; the detection contents of the brake or accelerator detection item are the percentage of chassis response to the pedal; the detection contents of the steering wheel detection item are the rotation percentage; the detection contents of the gear detection item are reverse gear (R), forward gear (D), neutral gear (N), and parking gear (P); the detection contents of the speed detection item are the change of the current real-time speed of the chassis and the maximum value.

[0060] In some examples, the test results of the seven test items are different. The overall test evaluation criteria for the test results are divided into several aspects: 1) Whether the test response delay time meets the standard. The delay time calculation logic is the difference between the moment when the chassis starts to change and the moment when the control command is issued after the control command is issued to the chassis. 2) Whether the command is executed normally by the chassis. After the control command is issued, the chassis should reach a stable state (i.e., steady state) within the expected time. The expected time is the maximum time that the command can be executed, which is determined by the test party's requirements for chassis performance. When executing some control commands for the chassis, the chassis will fluctuate. When the continuous chassis data oscillation of multiple frames is less than the set amplitude threshold, it is considered that the chassis has reached a steady state. 3) Whether the chassis has reached the value issued by the command. Different test items have different definitions of values ​​here. The detection content of the handshake detection is whether the chassis can respond accurately to the automatic forward and backward and takeover vehicle commands. The detection content of the brake or throttle detection is whether the percentage of the chassis response pedal amount is consistent with the issued pedal amount, that is, the percentage of the issued pedal amount is reached within the set steady-state time. The percentage can be set to a floating range, that is, the chassis response pedal percentage is qualified within the positive and negative amplitude value of the issued percentage. The detection content of the steering wheel detection is the rotation percentage, and the evaluation criteria are the same as those of the accelerator and brake. The gear detection is reverse gear (R), forward gear (D), neutral gear (N), and parking gear (P) to see whether the chassis execution result is the same as the issued control command. The detection value of the speed detection is whether the change of the current real-time speed of the chassis is continuous and whether the chassis return value has reached the maximum value. 4) The continuous detection mode (sending the detection command in the form of a waveform) is relatively special. It is necessary to determine whether the peak and trough values ​​meet expectations and whether the peak and trough response delay time meets expectations. 5) Chassis change curve: The detection items of the chassis that will continue to change, such as the steering wheel, brake, and accelerator, will record the real-time curve of the chassis during the command execution cycle. 6) The chassis detailed information content at the time of the detection command issuance and the chassis response time. The chassis detailed information includes the status description of each chassis hardware by different manufacturers.

[0061] The second part is responsible for the communication between the backend of the software layer and the driver layer of the chassis, including the following functions:

[0062] 1. According to the chassis message update frequency, the back end of the software layer writes the chassis control instructions to the shared memory; the chassis driver layer reads the chassis control instructions in the shared memory and sends the read chassis control instructions to the chassis.

[0063] 2. Read the actual status of the current chassis hardware written by the chassis driver layer from the shared memory.

[0064] The task management module 2122 is mainly responsible for parsing the detection command message and converting it into one or more chassis control instructions. Afterwards, the interactive communication module 2121 reads the one or more chassis control instructions and issues them to the chassis. The task management module 2122 is also responsible for calculating the detection results of the chassis hardware status information received by the interactive communication module 2121 to obtain the detection results. In the process of calculating the detection results, the task management module 2122 can also interact with the file management module 2123, obtain relevant configuration files from the file management module 2123, and calculate and / or judge the detection results based on the relevant configuration files.

[0065] Figure 3 FIG. 1 is a schematic diagram of the software layer display content according to an embodiment of the present disclosure. Figure 3 As shown, the display content of the software layer of an embodiment of the present disclosure may include at least one of chassis information real-time display 310, step information real-time display 320, and business module 330. Among them, chassis information real-time display 310 can display the chassis hardware status information received from CAN-bus in real time; step information real-time display 320 can display the current detection step and the specific information of the step in real time; business module 330 can display the detection results of different detection items, including at least one of the detection results of automatic handshake detection, gear detection, steering wheel detection, brake detection, handbrake detection, throttle detection and speed detection.

[0066] Figure 4 FIG. 1 is a flowchart of implementing a conversion detection command according to an embodiment of the present disclosure. Figure 3 As shown, in some implementations, converting the detection command into one or more chassis control instructions in the embodiment of the present disclosure may include:

[0067] S410, parsing the detection command;

[0068] S420, determining a detection mode corresponding to the detection command according to the analysis result;

[0069] S430: According to the detection mode, convert the detection command into one or more chassis control instructions.

[0070] Among them, the detection mode may include a manual mode, an automatic mode or a continuous mode. By setting a variety of detection modes, the diversity of vehicle control-by-wire evaluation can be improved, thereby meeting the evaluation requirements of different scenarios and different chassis hardware and improving the evaluation efficiency. Different detection modes correspond to different numbers and / or sending methods of chassis control instructions. Through the above process, the embodiment of the present disclosure can perform corresponding conversions on the detection commands based on the detection mode, thereby meeting the different requirements of multiple detection modes.

[0071] Figure 5 FIG. 1 is a schematic diagram of the process of issuing chassis control instructions and obtaining detection results in manual mode according to an embodiment of the present disclosure. Figure 5 As shown, the following steps are included:

[0072] S501-S502, the user selects a detection item and a detection mode, and generates user operation information based on the selected detection item and detection mode. The front end receives the user operation information sent by the user, determines the detection item and detection mode included in the user operation information, encapsulates the detection command according to the determination result, and sends the detection command to the back end. The detection command has a unique command ID. At the same time, the front end maintains the command status as "running".

[0073] S503: The back end receives the detection command sent by the front end, and parses the detection command.

[0074] S504: The backend analyzes the detection mode in the detection command based on the parsing result.

[0075] S505, the back end determines whether the detection mode is the manual mode, if yes, continue to execute step S505; if no, switch to other mode processing flow.

[0076] S506, entering the manual mode processing flow, while maintaining the command status as "running".

[0077] S507, the back-end analyzes the detection item, which is one of the above seven detection items, that is, the detection item is handshake detection, gear detection, steering wheel detection, speed detection, brake detection, throttle detection or handbrake detection. The detection command of the manual mode corresponds to a chassis control instruction.

[0078] S508: Encapsulate the content of the detection command into a chassis control command according to the chassis control command message format corresponding to the detection item, that is, convert the detection command of the front-end and back-end communication into a control command for the back-end to communicate with the chassis driver.

[0079] S509: Send chassis control instructions to the chassis driver.

[0080] S510-S514, monitor chassis messages, and when the chassis responds to the chassis control command, capture the current state of the chassis, determine whether the execution time of the detection command exceeds the maximum execution time; and record the chassis state. If the execution time of the detection command does not exceed the maximum execution time, execute step S515; if it exceeds, it indicates that the detection result is unqualified, and continue to execute steps S518-S519.

[0081] S515, determine whether the chassis state has reached a steady state; if not, return to step S510 and continue to monitor chassis messages; if reached, execute step S516.

[0082] S516, judging whether the chassis state reaches the expected state of the chassis control command and whether the chassis response time is qualified; if it reaches the expected state and the response time is qualified, it indicates that the test result is qualified, and the step S517 is continued. If it does not reach the expected state and / or the response time is unqualified, it indicates that the test result is unqualified, and the step S518 is continued.

[0083] S517, output the test result as qualified, encapsulate the test result message, and set the command running status to "end"; thereafter, the test result can be displayed on the front end, and the command running status is set to "completed".

[0084] S518-S519, determine that the command test fails. Output the test result as unqualified, encapsulate the test result message, and set the command running status to "end"; thereafter, the test result can be displayed on the front end, and the command running status is set to "completed".

[0085] When the detection mode corresponding to the detection command is the automatic mode, the backend can convert the detection command into multiple chassis control instructions and generate a first instruction queue, wherein the first instruction queue includes multiple chassis control instructions. In the above manner, in the automatic mode, multiple chassis control instructions can be generated for a single operation instruction input by the user, thereby continuously performing multiple controls to achieve multiple evaluations, thereby improving the evaluation efficiency.

[0086] Accordingly, in some examples, for the detection command of the automatic mode, the method of sending the chassis control instruction, receiving the chassis hardware status information, and generating the detection result may be:

[0087] Reading and sending chassis control instructions in the first instruction queue in sequence;

[0088] For each chassis control instruction sent, when the chassis hardware state of the vehicle reaches a stable state and / or the execution time of the chassis control instruction reaches a maximum execution time, the chassis hardware state information corresponding to the chassis control instruction is calculated to obtain a detection result corresponding to the chassis control instruction.

[0089] By reading and sending each chassis control instruction in sequence, receiving the corresponding chassis hardware status information, and calculating the received chassis hardware status information, multiple evaluations can be automatically performed, reducing manual operations and lowering the requirements for evaluators.

[0090] It can be seen that for the detection command of the automatic mode, the detection command corresponds to multiple chassis control instructions. For each chassis control instruction, a corresponding detection result can be generated.

[0091] Figure 6 FIG. 1 is a schematic diagram of the process of issuing chassis control instructions and obtaining detection results in automatic mode according to an embodiment of the present disclosure. Figure 6 As shown, the following steps are included:

[0092] S601-S603, the user selects the detection item and detection mode, and generates user operation information based on the selected detection item and detection mode. The front end receives the user operation information sent by the user, determines the detection item and detection mode included in the user operation information, generates a detection command ID queue according to the determination result, and encapsulates the detection command, and sends the detection command to the back end. At the same time, the front end maintains the command status as "running".

[0093] S604: The back end receives the detection command sent by the front end, and parses the detection command.

[0094] S605: The backend analyzes the detection mode in the detection command based on the parsing result, and sets the current detection task status to "running".

[0095] S606: The back end determines whether the detection mode is the automatic mode. If yes, continue to execute step S607; if not, switch to other mode processing flow.

[0096] S607, enter automatic mode processing flow.

[0097] S608, the back-end analyzes the detection item, which is one of the above seven detection items, that is, the detection item is handshake detection, gear detection, steering wheel detection, speed detection, brake detection, throttle detection or handbrake detection. The detection command of the automatic mode corresponds to multiple chassis control instructions.

[0098] S609: Generate a thread-safe instruction queue (hereinafter referred to as instruction queue), where each unique command ID in the instruction queue corresponds to a chassis control instruction.

[0099] S610: Issue the chassis control instruction at the head of the instruction queue.

[0100] S611-S615, monitor chassis messages. When the chassis responds to the chassis control command, capture the current state of the chassis, determine whether the execution time of the chassis control command exceeds the maximum execution time (the maximum execution time can be pre-stored in the configuration file, for example, the maximum execution time defaults to 3s); and record the chassis state. If the execution time of the chassis control command does not exceed the maximum execution time, execute step S616; if it exceeds, it indicates that the test result is unqualified, and continue to execute steps S619-S621.

[0101] S616: Determine whether the chassis state has reached a steady state; if not, return to step S611 and continue to monitor chassis messages; if reached, execute step S617. In some examples, the steady state judgment standard is that there is no jitter change of a certain amplitude within N consecutive frames. The relevant parameters can be pre-stored in the configuration file, such as, in the configuration N=60, the tolerance error of jitter changes such as steering wheel throttle is 0.5%.

[0102] S617, determine whether the chassis state reaches the expected state of the chassis control command, and whether the chassis response time is qualified; if it reaches the expected state and the response time is qualified, it indicates that the test result is qualified, and continue to step S618. If it does not reach the expected state, and / or the response time is unqualified, it indicates that the test result is unqualified, and continue to step S619.

[0103] S618, output the test result as qualified, encapsulate the test result message, and set the command running status to "end"; thereafter, the test result can be displayed on the front end, and the command running status is set to "completed".

[0104] S619-S621, determine that the command test is unqualified. Output the test result as unqualified, encapsulate the test result message (the change curve can be encapsulated in the test result message), and set the command running state to "end"; after that, the test result can be displayed on the front end, and the command running state is set to "completed".

[0105] After the above process, it may further include:

[0106] S622. Determine whether the instruction queue is empty. If not, return to step S610, i.e., re-issue the chassis control instruction at the head of the instruction queue, and perform the process of issuing chassis control instructions and obtaining execution results for the chassis control instruction at the head of the queue.

[0107] It can be seen that in the above example, when the user operation information of the automatic mode is received, the user operation information is converted into a detection command; the detection command can be encapsulated into multiple chassis control instructions. For each chassis control instruction, a corresponding detection result can be generated.

[0108] When the detection mode corresponding to the detection command is the continuous mode, the back end may convert the detection command into a plurality of chassis control instructions and generate a second instruction queue, wherein the second instruction queue includes the plurality of chassis control instructions.

[0109] Accordingly, in some examples, for a detection command in a continuous mode, the detection command is converted into one or more chassis control instructions, including:

[0110] When the detection mode corresponding to the detection command is a continuous mode, calculation is performed based on the detection item content included in the detection command to obtain a plurality of chassis control instructions and a sending cycle of the plurality of chassis control instructions;

[0111] A second instruction queue is generated, wherein the second instruction queue includes a plurality of chassis control instructions.

[0112] The continuous detection method proposed in the embodiment of the present disclosure can continuously send multiple chassis control instructions to the chassis according to a certain sending cycle, thereby realizing continuous adjustment of the chassis hardware and evaluating the state of the chassis during continuous adjustment.

[0113] Further, for the detection command of the continuous mode, the one or more chassis control instructions are sent, and the chassis hardware status information uploaded by the vehicle control bus is received; the chassis hardware status information is calculated to obtain the detection result, including:

[0114] Reading and sending the chassis control instructions in the second instruction queue in sequence according to the sending cycle of the plurality of chassis control instructions;

[0115] Receive chassis hardware status information corresponding to each chassis control command;

[0116] A waveform curve of the chassis hardware status is generated based on the received chassis hardware status information to obtain detection results corresponding to a plurality of chassis control instructions.

[0117] Through the above process, multiple chassis hardware status information received in the continuous mode can be plotted into a waveform curve, thereby more intuitively displaying the chassis hardware performance in the continuous control scenario, improving the efficiency of vehicle engineers in the autonomous driving industry in debugging the chassis of autonomous driving vehicles, and locating chassis adaptation problems more directly and quickly.

[0118] It can be seen that for the detection command of the continuous mode, the detection command corresponds to multiple chassis control instructions. According to the sending cycle of the multiple chassis control instructions, the chassis control instructions are sent to the chassis in sequence; for each chassis control instruction, the chassis feeds back the corresponding chassis hardware status information; based on the chassis hardware status information, a corresponding detection result can be generated.

[0119] Figure 7 FIG. 1 is a schematic diagram of the process of issuing chassis control instructions and obtaining detection results in a continuous mode according to an embodiment of the present disclosure. Figure 7 As shown, the following steps are included:

[0120] S701-S702, the user selects a detection item and a detection mode, and generates user operation information based on the selected detection item and detection mode. The front end receives the user operation information sent by the user, determines the detection item and detection mode included in the user operation information, encapsulates the detection command according to the determination result, and sends the detection command to the back end.

[0121] S703: The back end receives the detection command sent by the front end, and parses the detection command.

[0122] S704: The backend analyzes the detection mode in the detection command based on the parsing result.

[0123] S705, the back end determines whether the detection mode is a continuous mode, if yes, continue to execute step S706; if no, switch to other mode processing flow.

[0124] S706, enter the continuous mode processing flow. At the same time, the maintenance command running state is "running".

[0125] S707, the back-end analyzes the detection item, which is one of the above seven detection items, that is, the detection item is handshake detection, gear detection, steering wheel detection, speed detection, brake detection, throttle detection or handbrake detection. The detection command of the continuous mode corresponds to a single chassis control instruction.

[0126] S708 . Calculate a waveform curve of the chassis control command according to the period and amplitude value of the continuous detection command, and discretize the waveform curve to obtain a chassis control command queue.

[0127] S709. According to the cycle of the continuous detection command, set the total time of the timer operation; set the timer trigger frequency according to the chassis refresh frequency; start the timer.

[0128] S710 . Send each chassis control instruction in the chassis control instruction queue in sequence according to the timer.

[0129] S711-S713, monitor chassis messages, and when the chassis responds to the chassis control command, capture the current state of the chassis and record the current state of the chassis.

[0130] S714. Determine whether the timer is still running. If yes, execute step S715; otherwise, execute step S716.

[0131] S715, determine whether the current state of the chassis has reached the peak / trough; if so, calculate the peak / trough value and the delay time, and return to step S710; otherwise, there is no special processing, and directly return to step S710.

[0132] S716-S719, encapsulate the command detection result, and change the command execution status to "completed". After that, display the detection result and the corresponding waveform curve.

[0133] Taking the detection of the steering wheel in continuous detection mode as an example, after receiving the user operation information, multiple chassis control instructions can be generated according to the sin curve waveform based on the user operation information, and each chassis control instruction can be issued in sequence at a fixed frequency. After receiving multiple chassis hardware status information (specifically steering wheel status information) fed back from the chassis, a waveform curve of the chassis hardware status is generated based on the multiple chassis hardware status information. When displaying the detection results, a waveform curve composed of multiple chassis control instructions and a waveform curve composed of multiple chassis hardware statuses can be displayed. Figure 8 Take the detection result diagram shown in the figure as an example. Figure 8 In the figure, each dot represents a chassis control command, the horizontal coordinate of the point represents the time when the chassis control command is issued, and the vertical coordinate represents the steering wheel rotation angle indicated by the chassis control command; multiple dots form a waveform curve representing multiple chassis control commands (referred to as the command curve). Each small square represents a steering wheel state information, its coordinates represent the time corresponding to the state, and the vertical coordinate represents the steering wheel rotation angle corresponding to the state; multiple small squares form a waveform curve representing multiple steering wheel states (referred to as the state curve). From the command curve and the state curve, we can intuitively observe the response delay and percentage error of the steering wheel state relative to the command.

[0134] In some examples, the chassis control command for the steering wheel is calculated as follows:

[0135] percentaget=amplitude*sin(t*period_scalar),

[0136] t=t+canbus_clock

[0137]

[0138] Among them, percentage t is the steering wheel angle;

[0139] Amplitude is the maximum angle;

[0140] period is the instruction execution cycle;

[0141] canbus_clock is the bus refresh clock;

[0142] t is the current time.

[0143] The disclosed embodiment also provides a vehicle control-by-wire evaluation system. Fig. 9 is a schematic diagram of the structure of a vehicle control-by-wire evaluation system 900 according to an embodiment of the present disclosure, including:

[0144] The front-end device 910 is used to receive user operation information;

[0145] The back-end device 920 is used to convert the user operation information into a detection command; convert the detection command into one or more chassis control instructions; send the one or more chassis control instructions, receive chassis hardware status information uploaded by the vehicle control bus; calculate the chassis hardware status information to obtain a detection result.

[0146] Fig.10 is a schematic diagram of the structure of a vehicle control-by-wire evaluation system 1000 according to an embodiment of the present disclosure. In some implementations, the user operation information includes a detection item and a detection mode;

[0147] The backend device 920 includes an interactive communication module 921, which is used to:

[0148] Based on a pre-established detection command message protocol, the user operation information is converted into a detection command, wherein the detection command includes at least one of a detection item, a detection mode, a detection item content, and a detection command identifier.

[0149] In some embodiments, the detection mode includes at least one of a manual mode, an automatic mode, and a continuous mode.

[0150] In some implementations, the backend device 920 further includes a task management module 922, which is used to:

[0151] Parse detection commands;

[0152] According to the analysis result, determine the detection mode corresponding to the detection command;

[0153] According to the detection mode, the detection command is converted into one or more chassis control instructions.

[0154] In some implementations, the task management module 922 is used to:

[0155] When the detection mode corresponding to the detection command is the automatic mode, converting the detection command into a plurality of chassis control instructions;

[0156] A first instruction queue is generated, wherein the first instruction queue includes a plurality of chassis control instructions.

[0157] In some implementations, the task management module 922 is further configured to sequentially read and send chassis control instructions in the first instruction queue;

[0158] For each chassis control instruction sent, when the chassis hardware state of the vehicle reaches a stable state and / or the execution time of the chassis control instruction reaches a maximum execution time, the chassis hardware state information corresponding to the chassis control instruction is calculated to obtain a detection result corresponding to the chassis control instruction.

[0159] In some implementations, the task management module 922 is used to:

[0160] When the detection mode corresponding to the detection command is a continuous mode, calculation is performed based on the detection item content included in the detection command to obtain a plurality of chassis control instructions and a sending cycle of the plurality of chassis control instructions;

[0161] A second instruction queue is generated, wherein the second instruction queue includes a plurality of chassis control instructions.

[0162] In some implementations, the task management module 922 is further configured to sequentially read and send chassis control instructions in the second instruction queue according to a sending cycle of the plurality of chassis control instructions;

[0163] Receive chassis hardware status information corresponding to each chassis control command;

[0164] A waveform curve of the chassis hardware status is generated based on the received chassis hardware status information to obtain detection results corresponding to a plurality of chassis control instructions.

[0165] In some embodiments, the interactive communication module 921 is also used to encapsulate the detection result based on a pre-established detection result message protocol to obtain a detection result message; the detection result message includes at least one of the detection item results, command running status, command execution curve, command storage history record and detection command identification.

[0166] For the description of specific functions and examples of each module and submodule of the device in the embodiment of the present disclosure, reference can be made to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0167] In the technical solution disclosed in the present invention, the acquisition, storage and application of personal information of users involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0168] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0169] Fig.11 A schematic block diagram of an example electronic device 1100 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0170] like Fig.11 As shown, the device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a random access memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the device 1100 can also be stored. The computing unit 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0171] A number of components in the device 1100 are connected to the I / O interface 1105, including: an input unit 1106, such as a keyboard, a mouse, etc.; an output unit 1107, such as various types of displays, speakers, etc.; a storage unit 1108, such as a disk, an optical disk, etc.; and a communication unit 1109, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1109 allows the device 1100 to exchange data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0172] The computing unit 1101 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1101 performs the various methods and processes described above, such as detection methods. For example, in some embodiments, the detection method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1108. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1100 via ROM 1102 and / or communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, one or more steps of the detection method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the detection method in any other appropriate manner (e.g., by means of firmware).

[0173] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0174] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0175] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0176] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0177] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0178] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0179] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0180] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle control-by-wire evaluation method, comprising: Receive user operation information; Converting the user operation information into a detection command; converting the detection command into one or more chassis control instructions; Sending the one or more chassis control instructions and receiving chassis hardware status information uploaded by the vehicle control bus; The chassis hardware status information is calculated to obtain a detection result.

2. The method according to claim 1, wherein: The user operation information includes detection items and detection modes; The converting the user operation information into a detection command includes: Based on a pre-established detection command message protocol, the user operation information is converted into a detection command, wherein the detection command includes at least one of a detection item, a detection mode, a detection item content, and a detection command identifier.

3. The method according to claim 2, wherein: The detection mode includes at least one of a manual mode, an automatic mode and a continuous mode.

4. The method according to claim 3, wherein: The converting the detection command into one or more chassis control instructions comprises: Parsing the detection command; Determine the detection mode corresponding to the detection command according to the analysis result; According to the detection mode, the detection command is converted into one or more chassis control instructions.

5. The method according to claim 4, wherein: The converting the detection command into one or more chassis control instructions according to the detection mode includes: When the detection mode corresponding to the detection command is an automatic mode, converting the detection command into a plurality of chassis control instructions; A first instruction queue is generated, wherein the first instruction queue includes the plurality of chassis control instructions.

6. The method according to claim 5, wherein: The sending of the one or more chassis control instructions and receiving chassis hardware status information uploaded by the vehicle control bus; The chassis hardware status information is calculated to obtain a detection result, including: Reading and sending chassis control instructions in the first instruction queue in sequence; For each chassis control instruction sent, when the chassis hardware state of the vehicle reaches a stable state and / or the execution time of the chassis control instruction reaches a maximum execution time, the chassis hardware state information corresponding to the chassis control instruction is calculated to obtain a detection result corresponding to the chassis control instruction.

7. The method according to claim 4, wherein: The converting the detection command into one or more chassis control instructions according to the detection mode includes: When the detection mode corresponding to the detection command is a continuous mode, calculation is performed based on the detection item content included in the detection command to obtain a plurality of chassis control instructions and a sending cycle of the plurality of chassis control instructions; A second instruction queue is generated, wherein the second instruction queue includes the plurality of chassis control instructions.

8. The method according to claim 7, wherein: The sending of the one or more chassis control instructions and receiving chassis hardware status information uploaded by the vehicle control bus; The chassis hardware status information is calculated to obtain a detection result, including: Reading and sending the chassis control instructions in the second instruction queue in sequence according to the sending cycle of the plurality of chassis control instructions; Receiving chassis hardware status information corresponding to each chassis control instruction; A waveform curve of the chassis hardware status is generated based on the received chassis hardware status information to obtain detection results corresponding to the plurality of chassis control instructions.

9. The method according to any one of claims 1 to 8, further comprising: Based on a pre-defined detection result message protocol, encapsulate the detection result to obtain a detection result message; The detection result message includes at least one of the detection item result, command running status, command execution curve, command storage history record and detection command identification.

10. A vehicle control-by-wire evaluation system, comprising: A front-end device, used for receiving user operation information; A back-end device, used for converting the user operation information into a detection command; The detection command is converted into one or more chassis control instructions; the one or more chassis control instructions are sent, and chassis hardware status information uploaded by the vehicle control bus is received; and the chassis hardware status information is calculated to obtain a detection result.

11. The system according to claim 10, wherein: The user operation information includes detection items and detection modes; The backend device includes an interactive communication module, and the interactive communication module is used to: Based on a pre-established detection command message protocol, the user operation information is converted into a detection command, wherein the detection command includes at least one of a detection item, a detection mode, a detection item content, and a detection command identifier.

12. The system according to claim 11, wherein: The detection mode includes at least one of a manual mode, an automatic mode and a continuous mode.

13. The system according to claim 12, wherein: The backend device also includes a task management module, which is used to: Parsing the detection command; Determine the detection mode corresponding to the detection command according to the analysis result; According to the detection mode, the detection command is converted into one or more chassis control instructions.

14. The system according to claim 13, wherein: The task management module is used to: When the detection mode corresponding to the detection command is an automatic mode, converting the detection command into a plurality of chassis control instructions; A first instruction queue is generated, wherein the first instruction queue includes the plurality of chassis control instructions.

15. The system of claim 14, wherein: The task management module is further used to sequentially read and send chassis control instructions in the first instruction queue; For each chassis control instruction sent, when the chassis hardware state of the vehicle reaches a stable state and / or the execution time of the chassis control instruction reaches a maximum execution time, the chassis hardware state information corresponding to the chassis control instruction is calculated to obtain a detection result corresponding to the chassis control instruction.

16. The system of claim 12, wherein: The task management module is used to: When the detection mode corresponding to the detection command is a continuous mode, calculation is performed based on the detection item content included in the detection command to obtain a plurality of chassis control instructions and a sending cycle of the plurality of chassis control instructions; A second instruction queue is generated, wherein the second instruction queue includes the plurality of chassis control instructions.

17. The system of claim 16, wherein: The task management module is further used to read and send the chassis control instructions in the second instruction queue in sequence according to the sending cycle of the plurality of chassis control instructions; Receiving chassis hardware status information corresponding to each chassis control instruction; A waveform curve of the chassis hardware status is generated based on the received chassis hardware status information to obtain detection results corresponding to the plurality of chassis control instructions.

18. The system according to any one of claims 11 to 17, wherein: The interactive communication module is also used to encapsulate the detection results based on a pre-established detection result message protocol to obtain a detection result message; the detection result message includes at least one of the detection item results, command running status, command execution curve, command storage history record and detection command identification.

19. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 9.

20. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9.

21. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 9.

Images