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

Abstract

The present disclosure provides a vehicle drive-by-wire evaluation method, system, device and storage medium, relates to the technical field of computers, and particularly relates to the technical fields of artificial intelligence, automatic driving, software development and evaluation. The specific implementation scheme is as follows: receiving 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, receiving chassis hardware state information uploaded on a vehicle control bus; and calculating the chassis hardware state information to obtain a detection result. The present disclosure can effectively evaluate the performance of vehicle drive-by-wire.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer technology, and particularly relates to the technical field of artificial intelligence, automatic driving, software development and evaluation. BACKGROUND

[0002] The landing of the automatic driving system needs to adapt the vehicle control bus (such as Controller Area Network (CAN or CAN-bus)) driver and chassis to ensure that the control instructions issued by the automatic driving software layer can be accurately transmitted to the vehicle chassis, and to ensure that the vehicle chassis can accurately execute the control instructions and make the expected response. Therefore, how to evaluate the vehicle line control performance is a technical problem to be solved. SUMMARY

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

[0004] According to an aspect of the present disclosure, a vehicle line control evaluation method is provided, comprising:

[0005] receiving user operation information;

[0006] converting 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 state information transmitted on a vehicle control bus;

[0009] calculating the chassis hardware state information to obtain a detection result.

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

[0011] a front-end device configured to receive user operation information;

[0012] a back-end device configured 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 state information transmitted on a vehicle control bus, and calculate the chassis hardware state information to obtain a detection result.

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

[0014] at least one processor; and

[0015] a memory in communication with the at least one processor; wherein

[0016] The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any of 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 perform the method according to any of the embodiments of the present disclosure.

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

[0019] The present disclosure designs a vehicle line control 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 state information uploaded on the vehicle control bus to obtain the detection result, which can test whether the control instructions issued by the automatic 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 the expected response, thereby realizing effective evaluation of the vehicle line control performance.

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

[0021] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0022] Figure 1 is an implementation flowchart of a vehicle line control evaluation method according to an embodiment of the present disclosure;

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

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

[0025] Figure 4 is an implementation flowchart of the conversion of detection commands according to an embodiment of the present disclosure;

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

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

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

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

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

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

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

[0033] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are included to provide a thorough understanding of embodiments of the present disclosure by a person of ordinary skill in the art, and should not be construed as limiting the present disclosure. Thus, those of ordinary skill in the art will recognize various changes and modifications of the embodiments described herein, which do not depart from the scope and spirit of the present disclosure. Also, in the following description, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

[0034] The "and / or" of the embodiments of the present disclosure means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C. The terms "first", "second", etc. herein mean to refer to a plurality of similar technical terms and to distinguish them, and are not meant to limit the order or to limit to only two, for example, the first feature and the second feature mean to refer to two categories / two features, the first feature can be one or more, and the second feature can also be one or more.

[0035] Drive-by-wire technology is a technology that controls 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 landing of the automatic driving system needs to adapt the CAN-bus driver and the chassis to ensure that the control instructions issued by the automatic driving software layer can be accurately conveyed to the chassis, and the chassis can accurately execute the control instructions and make the expected response. The existing vehicle line control evaluation and debugging tool lacks the ability of automatic issuing of control instructions and analysis and evaluation of the chassis return results, and the user needs to rely on third-party hardware; and these lacking capabilities are the key capabilities required for the vehicle chassis to adapt to the automatic driving system.

[0037] Specifically, the existing vehicle line control evaluation method has a certain learning cost for users, and in general, the software and hardware are sold as a set; but it does not analyze the chassis data, nor does it give standards such as detection of whether it is qualified, so the adaptation of the automatic driving system software and the chassis cannot intuitively feedback the results.

[0038] Based on the current background, the embodiment of the present disclosure proposes a vehicle line control evaluation method, which can realize vehicle chassis line control evaluation of the automatic driving system, and help vehicle engineers quickly locate vehicle chassis problems in the adaptation of the automatic driving system. The vehicle line control evaluation method proposed in the embodiment of the present disclosure interacts with the chassis steering wheel, gear, speed, brake, throttle, hand brake, and automatic handshake, and can intuitively feedback the detection results.

[0039] Figure 1 is an implementation flowchart of a vehicle line control 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 state information uploaded on the vehicle control bus;

[0044] S150, calculating the chassis hardware state information to obtain a detection result.

[0045] The embodiment of the present disclosure can test whether the control instructions issued by the automatic driving software layer can be accurately conveyed to the vehicle chassis, and test whether the vehicle chassis can accurately execute the control instructions to make the expected response, by converting the user operation information into a detection command, and then converting the detection command into a chassis control instruction; sending the chassis control instruction to the vehicle control bus, and receiving the chassis hardware state information uploaded on the vehicle control bus to obtain a detection result, thereby realizing effective evaluation of the vehicle line control performance.

[0046] The embodiment of the disclosure defines a set of front-end and back-end communication messages of a chassis debugging device. The debugging tool supports three detection chassis problem modes, i.e., a manual mode, an automatic mode, and a continuous mode. The debugging tool supports detection of various problems in longitudinal and transverse direction control of the chassis. The overall logic of the system is to embed a set of visual vehicle chassis debugging tools in an automatic driving system to realize complete communication from software to chassis driver and then to chassis hardware control. Figure 2 is a schematic diagram of the overall architecture of vehicle drive-by-wire evaluation according to an embodiment of the disclosure. As shown in Figure 2 , the overall architecture of the system includes a software layer 210, a driver layer 220, and a vehicle chassis 230. The software layer 210 includes a front-end device (hereinafter referred to as a front-end) 211 and a back-end device (hereinafter referred to as a back-end) 212. The front-end 211 and the back-end 212 are connected by using a WebSocket (Web Socket) protocol. The WebSocket is a protocol for full-duplex communication over a single Transmission Control Protocol (TCP) connection.

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

[0048] The interactive communication module 2121 is divided into two parts. The first part is responsible for communication between the front-end and the back-end of the software layer. This part is mainly responsible for converting user operation information into detection commands and sending the detection commands to the back-end, and is responsible for echoing the detection results calculated by the back-end. The second part is responsible for 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 following specifically introduces the above two parts.

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

[0050] 1. This part designs three modes of user-issued detection commands, including a manual mode, an automatic mode, and a continuous mode. Correspondingly, in some examples, the user operation information sent by the user includes a detection item and a detection mode, and the detection mode includes at least one of the manual mode, the automatic mode, and the continuous mode.

[0051] The manual mode requires a debugger to manually issue a single detection command. The automatic mode automatically issues multiple detection commands based on a streaming communication mode. The continuous mode issues detection commands according to a specific waveform, such as a sin waveform.

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

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

[0054] Correspondingly, in some examples, the user operation information is converted into a detection command in the embodiments of the present disclosure, which can include:

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

[0056] By pre-defining the detection command message protocol and generating the detection command according to the detection command message protocol, a unified format detection command 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 definition of the detection item result format, the unique ID of the command (corresponding to the ID of the detection command), the command running state, the command execution curve, and the command storage history record.

[0058] Correspondingly, in some examples, the detection result can also be encapsulated based on the pre-prepared detection result message protocol to obtain a detection result message in the embodiments of the present disclosure; the detection result message includes at least one of the detection item result, the command running state, the command execution curve, the command storage history record, and the detection command identification. 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 detection result can be generated, which facilitates the transmission of the detection result between the front end and the back end.

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

[0060] In some examples, the detection results of the seven detection items are not the same. The detection criteria of the detection results are divided into several aspects: 1) whether the detection response delay time meets the standard. The delay time calculation logic is the difference between the time when the chassis starts to change after the control command is issued to the chassis and the time when the control command is issued. 2) whether the command is normally executed by the chassis. After the control command is issued, the chassis should reach a stable state (i.e., steady state) within the expected time, which is the maximum time for the command to be executed, which is determined by the detection party's requirements for the chassis performance. When the chassis is executing some control commands, the chassis will produce fluctuations, and when the continuous multiple frames of chassis data oscillation is less than the set amplitude threshold, it is considered that the chassis has reached a steady state. 3) whether the chassis reaches the value of the command issued. Here, different detection items have different definitions of values. The detection content of the handshaking detection is the automatic advance and retreat, and whether the chassis can accurately respond to the vehicle command. The detection content of the brake or accelerator detection is whether the chassis response pedal percentage is consistent with the issued pedal percentage, i.e., reaching the issued pedal percentage within the set steady state time. The percentage can be set to have a floating range, i.e., the chassis response pedal percentage is 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 consistent with the brake and accelerator. The gear detection is whether the chassis execution result is the same as the issued control command, i.e., reverse (R), forward (D), neutral (N), and parking (P). 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 reaches the maximum value. 4) The continuous detection mode (with waveform issued detection command) is more special, which needs to judge whether the wave peak and valley values meet the expectations and whether the wave peak and valley response delay time meets the expectations. 5) Chassis change curve: the detection items of the chassis that continuously change, such as the steering wheel, brake, and accelerator, will record the real-time curve of the chassis in the command execution period. 6) The chassis detailed information at the time when the detection command is issued and the time when the chassis responds, which includes the state description of each hardware of the chassis by different manufacturers.

[0061] The second part is responsible for the communication between the software layer backend and the driving layer of the chassis, which specifically includes the following functions:

[0062] 1. According to the chassis message update frequency, the software layer backend writes the chassis control command to the shared memory; the chassis driving layer reads the chassis control command in the shared memory and sends the read chassis control command to the chassis.

[0063] 2. Read the actual state of the current chassis hardware written by the chassis driving 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. Then, 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 result based on the chassis hardware state information received by the interactive communication module 2121 to obtain the detection result. During the calculation of the detection result, the task management module 2122 can also interact with the file management module 2123 to obtain the relevant configuration file from the file management module 2123 and perform detection result calculation and / or judgment based on the relevant configuration file.

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

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

[0067] S410, parsing the detection command;

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

[0069] S430, converting the detection command into one or more chassis control instructions according to the detection mode.

[0070] Among them, the detection mode can include a manual mode, an automatic mode or a continuous mode. By setting multiple detection modes, the diversity of the vehicle line control evaluation can be improved, so as to meet the evaluation requirements of different scenes and different chassis hardware, and improve the evaluation efficiency. The number and / or sending mode of the chassis control instructions corresponding to different detection modes are not the same. Through the above process, the embodiment of the present disclosure can convert the detection command based on the detection mode, so as to meet the different needs of multiple detection modes.

[0071] Figure 5 is a schematic diagram of chassis control instruction issuing and detection result obtaining process in manual mode according to an embodiment of the present disclosure. As shown in Figure 5 , 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, judges the detection item and detection mode included in the user operation information, encapsulates a detection command according to the judgment 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 state as "running".

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

[0074] S504, the back end analyzes the detection mode in the detection command based on the analysis result.

[0075] S505, the back end judges whether the detection mode is a manual mode. If yes, continue to execute step S505; if not, switch to other mode processing flow.

[0076] S506, enter the manual mode processing flow, and maintain the command state as "running".

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

[0078] S508, encapsulate the content in the detection command as a chassis control instruction according to the chassis control instruction message format corresponding to the detection item. That is, convert the detection command communicated between the front end and the back end into a control instruction communicated between the back end and the chassis drive.

[0079] S509, issue the chassis control instruction to the chassis drive.

[0080] S510-S514, listen to the chassis message. When it is detected that the chassis responds to the chassis control instruction, capture the current state of the chassis, judge whether the execution time of the detection command exceeds the maximum execution time, and record the chassis state at the same time. If the execution time of the detection command does not exceed the maximum execution time, execute step S515; if it exceeds, it means that the detection result is unqualified, and continue to execute steps S518-S519.

[0081] S515, determining whether the chassis state reaches a steady state; if not, returning to execute step S510 to continue to listen to the chassis message; if yes, executing step S516.

[0082] S516, determining whether the chassis state reaches an expected state of the chassis control instruction and whether the response time of the chassis is qualified; if yes, indicating that the detection result is qualified, and executing step S517. If not, indicating that the detection result is unqualified, and executing step S518.

[0083] S517, outputting that the detection result is qualified, packaging a detection result message, and setting the command running state as “end”; then, the detection result can be displayed on the front end, and the command running state can be set as “completed”.

[0084] S518-S519, determining that the command detection is unqualified. Outputting that the detection result is unqualified, packaging a detection result message, and setting the command running state as “end”; then, the detection result can be displayed on the front end, and the command running state can be set as “completed”.

[0085] When the detection mode corresponding to the detection command is the automatic mode, the back end can convert the detection command into a plurality of chassis control instructions, and generate a first instruction queue containing the plurality of chassis control instructions. In this way, in the automatic mode, a plurality of chassis control instructions can be generated for a single operation instruction input by the user, so that a plurality of controls are continuously performed to implement a plurality of evaluations, thereby improving the evaluation efficiency.

[0086] Correspondingly, in some examples, for the detection command in the automatic mode, the sending of the chassis control instruction, the receiving of the chassis hardware state information, and the generation of the detection result can be as follows:

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

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

[0089] By reading and sending each chassis control instruction in sequence, receiving the corresponding chassis hardware state information, and calculating the received chassis hardware state information, a plurality of evaluations can be automatically performed, human operation is reduced, and the requirement for the evaluation personnel is lowered.

[0090] It can be seen that for the detection command in 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 According to an embodiment of the present disclosure, the chassis control instruction issuing and detection result obtaining process in the automatic mode is shown in the schematic diagram. As shown in Figure 6 The steps include:

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

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

[0094] S605, the back end analyzes the detection mode in the detection command based on the analysis result. Set the current detection task state as "running".

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

[0096] S607, enter the automatic mode processing flow.

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

[0098] S609, generate a thread safety instruction queue (referred to as instruction queue). 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, listen to chassis message, when listening to chassis responding to the chassis control instruction, capture the current state of chassis, determine whether the execution time of the chassis control instruction exceeds the maximum execution time (the maximum execution time can be stored in the configuration file in advance, for example, the maximum execution time is 3s by default); record the chassis state at the same time. If the execution time of the chassis control instruction does not exceed the maximum execution time, execute step S616; if it exceeds, it means that the detection result is unqualified, continue to execute steps S619-S621.

[0101] S616, determine whether the chassis state reaches steady state; if not, return to execute step S611 and continue to listen to chassis message; if it reaches, execute step S617. In some examples, the steady state judgment standard is that there is no certain amplitude jitter change in continuous N frames. Related parameters can be stored in the configuration file in advance, such as configuring N=60, and the tolerance error of steering wheel throttle jitter change is 0.5%.

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

[0103] S618, output the detection result as qualified, and package the detection result message, set the command running state to "end"; then, the detection result can be displayed on the front end, and the command running state is set to "completed".

[0104] S619-S621, determine that the instruction detection is unqualified. Output the detection result as unqualified, and package the detection result message (the change curve can be packaged together, such as in the detection result message), set the command running state to "end"; then, the detection result can be displayed on the front end, and the command running state is set to "completed".

[0105] The above process can further include:

[0106] S622, determine whether the instruction queue is empty, if not, return to execute step S610, that is, reissue the chassis control instruction in the current head of the instruction queue, and perform the chassis control instruction issuing and execution result obtaining process for the chassis control instruction in the current head.

[0107] As can be seen, in the above examples, 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 as a plurality of 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 can convert the detection command into a plurality of chassis control instructions, and generate a second instruction queue containing the plurality of chassis control instructions.

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

[0110] In the case where the detection mode corresponding to the detection command is the continuous mode, the detection item content contained in the detection command is calculated to obtain a plurality of chassis control instructions and a sending period of the plurality of chassis control instructions;

[0111] A second instruction queue containing the plurality of chassis control instructions is generated.

[0112] The continuous detection method proposed by the embodiments of the present disclosure can continuously send a plurality of chassis control instructions to the chassis according to a certain sending period, so as to realize continuous adjustment of the chassis hardware and evaluate 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 chassis hardware state information uploaded on the vehicle control bus is received; the chassis hardware state information is calculated to obtain a detection result, including:

[0114] The chassis control instructions in the second instruction queue are read and sent in turn according to the sending period of the plurality of chassis control instructions;

[0115] The chassis hardware state information corresponding to each chassis control instruction is received;

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

[0117] Through the above process, the plurality of chassis hardware state information received in the continuous mode can be plotted into a waveform curve, so as to more intuitively display the performance of the chassis hardware in the continuous control scenario, and improve the efficiency of the vehicle engineer of the automatic driving industry in debugging the chassis of the automatic driving vehicle, and more directly and rapidly locate the chassis adaptation problem.

[0118] It can be seen that for the detection command in the continuous mode, the detection command corresponds to multiple chassis control instructions. According to the sending period of the multiple chassis control instructions, the chassis control instructions are sent to the chassis in turn; for each chassis control instruction, the chassis feedback corresponding chassis hardware state information; based on these chassis hardware state information, a corresponding detection result can be generated.

[0119] Figure 7 According to an embodiment of the present disclosure, the chassis control instruction issuing and detection result obtaining process in the continuous mode is shown in the schematic diagram. As shown in Figure 7 The following steps are included:

[0120] S701-S702, the user selects the detection item and the detection mode, and generates the user operation information based on the selected detection item and the detection mode. The front end receives the user operation information sent by the user, judges the detection item and the detection mode included in the user operation information, encapsulates the detection command according to the judgment 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 analyzes the detection command.

[0122] S704, the back end analyzes the detection mode in the detection command based on the analysis result.

[0123] S705, the back end judges whether the detection mode is continuous mode. If yes, continue to execute step S706; if not, switch to other mode processing flow.

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

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

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

[0127] S709, set the total running time of the timer according to the period of the continuous detection command; 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 turn according to the timer.

[0129] S711-S713, listen to chassis message, when listening to chassis responding to the chassis control instruction, capture the current state of chassis, and record the current state of chassis.

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

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

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

[0133] Taking the detection of the steering wheel in the continuous detection mode as an example, after receiving the user operation information, according to the user operation information, a plurality of chassis control instructions can be generated according to the sin curve waveform, and each chassis control instruction is sequentially issued according to a fixed frequency. After receiving the plurality of chassis hardware state information (specifically, the steering wheel state information) feedback by the chassis, the waveform curve of the chassis hardware state is generated based on the plurality of chassis hardware state information. When displaying the detection result, the waveform curve composed of the plurality of chassis control instructions and the waveform curve composed of the plurality of chassis hardware states can be displayed. Taking the detection result diagram shown in Figure 8 as an example, in Figure 8 , each dot represents a chassis control instruction, the horizontal coordinate of the dot indicates the issuance time of the chassis control instruction, and the vertical coordinate indicates the rotation angle of the steering wheel indicated by the chassis control instruction; a plurality of dots form a waveform curve representing a plurality of chassis control instructions (referred to as instruction curve). Each small square represents a steering wheel state information, and the coordinates thereof indicate the time corresponding to the state and the vertical coordinate indicates the rotation angle of the steering wheel corresponding to the state; a plurality of small squares form a waveform curve representing a plurality of steering wheel states (referred to as state curve). From the instruction curve and the state curve, the response delay and the percentage error of the steering wheel state relative to the instruction can be observed intuitively.

[0134] In some examples, the calculation formula of the chassis control instruction for the steering wheel is as follows:

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

[0136] t = t + canbus_clock

[0137]

[0138] wherein, percentage t is a steering wheel angle;

[0139] amplitude is a maximum angle;

[0140] period is an instruction execution period;

[0141] canbus_clock is a bus refresh clock;

[0142] t is a current time.

[0143] The embodiments of the present disclosure also provide a vehicle drive-by-wire evaluation system, Figure 9 is a structural schematic diagram of a vehicle drive-by-wire evaluation system 900 according to an embodiment of the present disclosure, comprising:

[0144] a front-end device 910 configured to receive user operation information;

[0145] a back-end device 920 configured 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 state information transmitted on a vehicle control bus, and calculate the chassis hardware state information to obtain a detection result.

[0146] Figure 10 is a structural schematic diagram of a vehicle drive-by-wire evaluation system 1000 according to an embodiment of the present disclosure, in some embodiments, the user operation information includes a detection item and a detection mode;

[0147] the back-end device 920 includes an interactive communication module 921, which is configured to:

[0148] convert the user operation information into a detection command based on a pre-prepared detection command message protocol, the detection command including 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 embodiments, the back-end device 920 further includes a task management module 922, which is configured to:

[0151] analyze the detection command;

[0152] determine a detection mode corresponding to the detection command according to an analysis result;

[0153] convert the detection command into one or more chassis control instructions according to the detection mode.

[0154] In some embodiments, the task management module 922 is configured to:

[0155] In a case where the detection mode corresponding to the detection command is the automatic mode, the detection command is converted into a plurality of chassis control instructions;

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

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

[0158] For each sent chassis control instruction, in a case where 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 embodiments, the task management module 922 is configured to:

[0160] In a case where the detection mode corresponding to the detection command is the continuous mode, the detection item content included in the detection command is calculated to obtain a plurality of chassis control instructions and a sending period of the plurality of chassis control instructions;

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

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

[0163] The chassis hardware state information corresponding to each chassis control instruction is received;

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

[0165] In some embodiments, the interactive communication module 921 is further configured to encapsulate the detection result based on a pre-prepared detection result message protocol to obtain a detection result message; the detection result message includes at least one of a detection item result, a command running state, a command execution curve, a command storage history record, and a detection command identifier.

[0166] The specific functions and examples of each module and sub-module of the apparatus of the embodiments of the present disclosure are described above with reference to the related description of the corresponding steps in the method embodiments, and will not be described here.

[0167] In the technical solutions of the present disclosure, the acquisition, storage and application of the personal information of the user comply with relevant laws and regulations and do not violate public order and good customs.

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

[0169] Figure 11 A schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present disclosure described and / or claimed in this document.

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

[0171] Various 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 magnetic 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 can be various general-purpose and / or special-purpose 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 specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, and the like. The computing unit 1101 performs various methods and processes described above, such as the detection method. For example, in some embodiments, the detection method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1108. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 1100 via the ROM 1102 and / or the communication unit 1109. When the computer program is loaded onto the RAM 1103 and executed by the computing unit 1101, one or more steps of the detection method described above can be performed. Alternatively, in other embodiments, the computing unit 1101 can be configured to perform the detection method by any other appropriate means, such as by means of firmware.

[0173] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0174] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine or server, or entirely on a remote machine or server.

[0175] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0176] To provide for interaction with a user, the systems and techniques described here 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 information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0177] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can 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] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can 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 flow shown above can be re-ordered, steps added or removed, etc. For example, the steps recited in the present disclosure can be performed in parallel, in series, in a different order, etc., so long as the desired results of the technology disclosed in the present disclosure are achieved, which is not limited herein.

[0180] The above detailed description does not constitute a limitation of the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle-by-wire evaluation method, comprising: receiving user operation information; the user operation information includes a detection item and a detection mode; the detection mode includes at least one of a manual mode, an automatic mode and a continuous mode; based on a pre-established detection command message protocol, the user operation information is converted into a detection command, the detection command includes at least one of the detection item, the detection mode, the detection item content and the detection command identification; parsing the detection command; determining the detection mode corresponding to the detection command according to the parsing result; in the case that the detection mode corresponding to the detection command is the automatic mode, the detection command is converted into a plurality of chassis control instructions; a first instruction queue containing the plurality of chassis control instructions is generated; the chassis control instructions in the first instruction queue are read and sent in turn; for each sent chassis control instruction, in the case that 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; in the case that the detection mode corresponding to the detection command is the continuous mode, based on the detection item content contained in the detection command, a plurality of chassis control instructions and a sending period of the plurality of chassis control instructions are calculated; a second instruction queue containing the plurality of chassis control instructions is generated; the chassis control instructions in the second instruction queue are read and sent in turn according to the sending period of the plurality of chassis control instructions; the chassis hardware state information corresponding to each chassis control instruction is received; based on the received chassis hardware state information, a waveform curve of the chassis hardware state is generated to obtain a detection result. 2.The method of claim 1, further comprising: based on a pre-established detection result message protocol, the detection result is encapsulated to obtain a detection result message; the detection result message includes at least one of a detection item result, a command running state, a command execution curve, a command storage history record and a detection command identification. 3.A vehicle-by-wire evaluation system, comprising: a front-end device for receiving user operation information; the user operation information includes a detection item and a detection mode; the detection mode includes at least one of a manual mode, an automatic mode and a continuous mode; a back-end device including an interactive communication module for: based on a pre-established detection command message protocol, the user operation information is converted into a detection command, the detection command includes at least one of the detection item, the detection mode, the detection item content and the detection command identification; further comprising a task management module for: parsing the detection command; determining the detection mode corresponding to the detection command according to the parsing result; In a case where the detection mode corresponding to the detection command is an automatic mode, the detection command is converted into a plurality of chassis control instructions; a first instruction queue containing the plurality of chassis control instructions is generated; chassis control instructions in the first instruction queue are read and sent in sequence; for each sent chassis control instruction, in a case where a chassis hardware state of the vehicle reaches a stable state and / or an execution time of the chassis control instruction reaches a maximum execution time, chassis hardware state information corresponding to the chassis control instruction is calculated to obtain a detection result; In a case where the detection mode corresponding to the detection command is a continuous mode, based on detection item content contained in the detection command, a plurality of chassis control instructions and a sending period of the plurality of chassis control instructions are calculated; a second instruction queue containing the plurality of chassis control instructions is generated; chassis control instructions in the second instruction queue are read and sent in sequence according to the sending period of the plurality of chassis control instructions; chassis hardware state information corresponding to each chassis control instruction is received; based on the received chassis hardware state information, a waveform curve of the chassis hardware state is generated to obtain a detection result.

4. The system of claim 3, wherein, The interactive communication module is further configured to encapsulate the detection result based on a pre-prepared detection result message protocol to obtain a detection result message, wherein the detection result message comprises at least one of a detection item result, a command running state, a command execution curve, a command storage history record, and a detection command identifier.

5. An electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein The memory stores instructions executable 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 of claim 1 or 2.

6. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of claim 1 or 2.

7. A computer program product comprising a computer program which, when executed by a processor, implements the method of claim 1 or 2.

7. A computer program product comprising a computer program which, when executed by a processor, implements the method of claim 1 or 2.

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