V2X vehicle speed guiding software testing method, device, equipment and medium

Abstract

The invention relates to a V2X vehicle speed guiding software testing method, device and equipment and a medium, and belongs to the technical field of vehicles, and the method comprises the steps: obtaining a first driving track of a vehicle; the first driving track comprises a target position, a target intersection at a preset distance from the target position and a preset vehicle speed of the vehicle at the target position; acquiring first traffic light information of a target intersection when a preset vehicle is at a target position; calling V2X vehicle speed guiding software to generate first vehicle speed guiding information at the target position based on the first driving track and the first traffic light information; and determining a first test result of the V2X vehicle speed guidance software according to the first vehicle speed guidance information. According to the invention, the distance between the target position and the target intersection, the vehicle speed of the vehicle at the target position and the first traffic light information of the target intersection when the vehicle at the target position are all controllable, so that the accuracy of the first vehicle speed guide information generated by V2X vehicle speed guide software in various scenes can be tested.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a V2X vehicle speed guidance software testing method, device, equipment and medium. Background Art

[0002] V2X speed guidance software is an application based on V2X technology, which aims to provide speed guidance through real-time communication between vehicles and the surrounding environment to optimize driving experience, improve road safety and traffic efficiency. For example, by communicating with the traffic light system, V2X speed guidance software can inform the driver of the status and changes of the traffic lights ahead in advance, helping the driver to reasonably adjust the speed and reduce the waiting time at red lights.

[0003] The existing V2X vehicle speed guidance software will be tested on a real vehicle when it is officially used. However, due to uncontrollable factors such as traffic lights, distance between the vehicle and the intersection, and vehicle speed, the real vehicle test cannot cover all test scenarios, resulting in the correctness, stability and reliability of the V2X vehicle speed guidance software not being fully guaranteed. Summary of the invention

[0004] In view of this, it is necessary to provide a V2X vehicle speed guidance software testing method, device, equipment and medium to solve the problem of insufficient testing reliability of V2X vehicle speed guidance software in the prior art.

[0005] In order to solve the above problems, in a first aspect, the present invention provides a V2X vehicle speed guidance software testing method, comprising: Acquire a first driving trajectory of the vehicle; wherein the first driving trajectory includes a target position, a target intersection at a preset distance from the target position, and a preset speed of the vehicle at the target position; Obtaining preset first traffic light information of the target intersection when the vehicle is at the target location; Calling V2X vehicle speed guidance software to generate first vehicle speed guidance information at the target location based on the first driving trajectory and the first traffic light information; A first test result of the V2X vehicle speed guidance software is determined according to the first vehicle speed guidance information.

[0006] Optionally, the first traffic light information includes the color of the traffic light and a countdown for the traffic light color conversion; the first vehicle speed guidance information includes a first guidance vehicle speed and a result of the vehicle passing the first traffic light at the target intersection, and determining the first test result of the V2X vehicle speed guidance software according to the first vehicle speed guidance information includes: The second vehicle speed guidance information is calculated based on the preset distance, the preset vehicle speed, the traffic light color, and the traffic light color conversion countdown; the second vehicle speed guidance information includes a second guidance vehicle speed and a result of the vehicle passing the second traffic light at the target intersection; A first test result of the V2X vehicle speed guidance software is determined according to the first guiding vehicle speed, the first traffic light passing result, the second guiding vehicle speed and the second traffic light passing result.

[0007] Optionally, the V2X vehicle speed guidance software is installed on an on-board device of the vehicle; the on-board device is respectively connected to a roadside device and a control device in communication; the roadside device is connected to the control device in communication; the method is applied to the control device; and calling the V2X vehicle speed guidance software to generate the first vehicle speed guidance information at the target position based on the first driving trajectory and the first traffic light information includes: Sending the first driving trajectory to the vehicle-mounted device, and controlling the vehicle-mounted device to simulate a vehicle driving process according to the first driving trajectory; Sending the first traffic light information to the roadside device according to a preset time, and sending the first traffic light information to the vehicle-mounted device through the roadside device; wherein the preset time is the time when the vehicle is at the target location; When simulating the driving process, the V2X vehicle speed guidance software on the vehicle-mounted device is called to generate the first vehicle speed guidance information at the target position based on the target position, the target intersection, the preset vehicle speed and the first traffic light information.

[0008] Optionally, the calling of the V2X vehicle speed guidance software on the vehicle-mounted device to generate first vehicle speed guidance information at the target location based on the target location, the target intersection, the preset vehicle speed and the first traffic light information includes: Acquire a map of the target intersection, send the map of the target intersection to the roadside device, and send the map of the target intersection to the vehicle-mounted device through the roadside device; The V2X vehicle speed guidance software on the vehicle-mounted device is called to generate first vehicle speed guidance information at the target location based on the target location, the target intersection, the preset vehicle speed, the first traffic light information and a map of the target intersection.

[0009] Optionally, the method further includes: When the first test result meets the preset requirements, a second driving trajectory is generated, and the second driving trajectory is sent to the vehicle-mounted device; wherein the second driving trajectory includes a plurality of intersections and an initial vehicle speed of the vehicle on the second driving trajectory; Controlling the vehicle-mounted device to simulate a driving process of the vehicle according to the second driving trajectory; Generate second traffic light information for each intersection at a preset time interval, send the second traffic light information to the roadside device, and send the second traffic light information to the vehicle-mounted device through the roadside device; When simulating the driving process, calling the V2X vehicle speed guidance software to generate second vehicle speed guidance information based on the second driving trajectory, the initial vehicle speed and the second traffic light information; A second test result of the V2X vehicle speed guidance software is determined according to the second vehicle speed guidance information.

[0010] Optionally, determining a second test result of the V2X vehicle speed guidance software according to the second vehicle speed guidance information includes: Obtaining a generation condition of vehicle speed guidance information of the V2X vehicle speed guidance software; Predicting the generation of the second vehicle speed guidance information according to the generation condition, the second driving trajectory, the initial vehicle speed, and the second traffic light information; A second test result of the V2X vehicle speed guidance software is determined according to the second vehicle speed guidance information and the predicted generation of the second vehicle speed guidance information.

[0011] Optionally, the control device and the vehicle-mounted device are respectively connected to an MQTT server for communication, and the method further includes: Subscribe to the MQTT message to obtain the first vehicle speed guidance information through the MQTT message.

[0012] In a second aspect, the present invention further provides a V2X vehicle speed guidance software testing device, comprising: A trajectory determination module, configured to obtain a first driving trajectory of the vehicle; wherein the first driving trajectory includes a target position, a target intersection at a preset distance from the target position, and a preset speed of the vehicle at the target position; A traffic light information determination module, used to obtain the preset first traffic light information of the target intersection when the vehicle is at the target position; A V2X vehicle speed guidance software calling module, used for calling the V2X vehicle speed guidance software to generate first vehicle speed guidance information at the target position based on the first driving trajectory and the first traffic light information; A test result determination module is used to determine a first test result of the V2X vehicle speed guidance software according to the first vehicle speed guidance information.

[0013] In a third aspect, the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory is used to store a program; and the processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in any one of the above-mentioned V2X vehicle speed guidance software testing methods.

[0014] In a fourth aspect, the present invention further provides a computer-readable storage medium for storing a computer-readable program, wherein the program or instruction, when executed by a processor, can implement the steps in any one of the above-mentioned V2X vehicle speed guidance software testing methods.

[0015] The beneficial effects of the present invention are: In the present invention, a first driving trajectory of a vehicle is obtained; wherein the first driving trajectory includes a target position, a target intersection at a preset distance from the target position, and a preset speed of the vehicle at the target position; first traffic light information of the target intersection when the preset vehicle is at the target position is obtained; V2X vehicle speed guidance software is called to generate first vehicle speed guidance information at the target position based on the first driving trajectory and the first traffic light information; and a first test result of the V2X vehicle speed guidance software is determined according to the first vehicle speed guidance information.

[0016] The present invention simulates the driving process of the vehicle through the first driving trajectory, which reduces manpower input compared to the actual vehicle test, and can achieve multiple repeated simulations. In addition, the distance between the target position and the target intersection in the first driving trajectory is controllable, the speed of the vehicle at the target position is controllable, and the first traffic light information of the target intersection when the vehicle is at the target position is also controllable, so the accuracy of the first vehicle speed guidance information generated by the V2X vehicle speed guidance software in various test scenarios can be fully tested to ensure the reliability of the V2X vehicle speed guidance software. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of an embodiment of a V2X vehicle speed guidance software testing method provided by the present invention; Figure 2 A schematic diagram of the structure of a test system provided by the present invention; Figure 3 A flowchart of another embodiment of the V2X vehicle speed guidance software testing method provided by the present invention; Figure 4 A schematic diagram of the structure of an embodiment of a V2X vehicle speed guidance software testing device provided by the present invention. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0019] In the description of the embodiments of the present invention, unless otherwise specified, "multiple" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" may represent the three situations of: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0020] The terms "first", "second", etc., involved in the embodiments of the present invention are used to distinguish similar objects, but are not used to describe a specific order or sequence, nor are they used to indicate or imply their relative importance or implicitly indicate the number of technical features indicated. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] Reference Figure 1 , shows a flow chart of an embodiment of a V2X vehicle speed guidance software testing method provided by the present invention, the method comprising: S101, obtaining a first driving trajectory of a vehicle; wherein the first driving trajectory includes a target position, a target intersection at a preset distance from the target position, and a preset speed of the vehicle at the target position.

[0023] The driving trajectory records the driving route of the vehicle within a period of time, the vehicle position and speed at different time points within the period of time, and other information. The first driving trajectory specifically includes: the target intersection, which can be one or more of the intersections in the driving trajectory; the target position, which is the position at a preset distance from the target intersection. There is one target position corresponding to each target intersection, and the distance between each target position and each corresponding target intersection can be set by itself; the preset speed of the vehicle at each target position can also be set by itself.

[0024] The first driving trajectory can be written by the trajectory making tool. For example, the front end uses vue2 and Baidu map API to build a web interface, determine the starting point and end point coordinates on the web interface, draw a broken line to draw the driving route, input the vehicle speed and trajectory sampling frequency, and calculate all trajectory points; the back end uses Python to write the Baidu coordinate conversion wgs84 coordinate function, Django implements the background interface, connects the front and back ends, and outputs the driving trajectory log file. By generating the first driving trajectory through the trajectory making tool, the distance from each target position to the target intersection and the speed of the vehicle at the target position in the first driving trajectory can be controlled.

[0025] S102, obtaining the first traffic light information of the target intersection when the vehicle is at the target position.

[0026] The first traffic light information is the preset traffic light information of the target intersection when the vehicle is at the target position; one target intersection corresponds to one first traffic light information; the first traffic light information of each target intersection can be set by itself. The first traffic light information may include the color of the traffic light and the countdown of the color change. For example, when the vehicle is at position A, the first traffic light information of intersection A is red light, and the countdown of the red light is 10 seconds.

[0027] S103: Call the V2X vehicle speed guidance software to generate first vehicle speed guidance information at the target position based on the first driving trajectory and the first traffic light information.

[0028] After obtaining the first driving trajectory, the driving process of the vehicle can be simulated, and during the simulation process, the V2X vehicle speed guidance software is called to generate the first vehicle speed guidance information at the target location based on the first driving trajectory and the first traffic light information. The first vehicle speed guidance information may include the first guidance vehicle speed when the vehicle is at the target location and the result of the vehicle passing the first traffic light at the target intersection if the vehicle is traveling at the first guidance vehicle speed. For example, the first vehicle speed guidance information is to recommend accelerating to 60 km / h, so the vehicle can pass through intersection A with a green light.

[0029] S104: Determine a first test result of the V2X vehicle speed guidance software according to the first vehicle speed guidance information.

[0030] After obtaining the first vehicle speed guidance information, it can be determined whether the first vehicle speed guidance information is accurate, and thus the first test result of the V2X vehicle speed guidance software can be determined according to the accuracy of the first vehicle speed guidance information.

[0031] During actual road testing, the distance between the vehicle and the intersection is not accurately controlled by humans, and it is impossible to guarantee the current traffic light status of the intersection when the vehicle is at a certain distance from the intersection. It is only possible to trigger certain scenarios according to the actual driving process, and then perform data analysis based on the scenarios, resulting in the problem of missed scenarios.

[0032] In the embodiment of the present invention, the driving process of the vehicle is simulated by the first driving trajectory, which reduces the manpower input compared to the actual vehicle test, and can achieve multiple repeated simulations. In addition, the distance between the target position and the target intersection in the first driving trajectory is controllable, the speed of the vehicle at the target position is controllable, and the first traffic light information of the target intersection when the vehicle is at the target position is also controllable. The accuracy of the first speed guidance information generated by the V2X speed guidance software in various test scenarios can be fully tested to ensure the reliability of the V2X speed guidance software. Among them, each test scenario corresponds to three variables: preset distance, preset speed and first traffic light information. If one of the variables changes, the test scenario will change.

[0033] In one embodiment, the first traffic light information includes the traffic light color and the countdown for the traffic light color conversion; the first vehicle speed guidance information includes the first guidance vehicle speed and the result of the vehicle passing the first traffic light at the target intersection, then S104 may specifically include: calculating the second vehicle speed guidance information according to the preset distance, the preset vehicle speed, the traffic light color and the countdown for the traffic light color conversion; the second vehicle speed guidance information includes the second guidance vehicle speed and the result of the vehicle passing the second traffic light at the target intersection; determining the first test result of the V2X vehicle speed guidance software according to the first guidance vehicle speed, the result of passing the first traffic light, the second guidance vehicle speed and the result of passing the second traffic light.

[0034] The second vehicle speed guidance information of the vehicle at each target position can be calculated through a preset formula / model according to a preset distance, a preset vehicle speed, a traffic light color, and a countdown for a traffic light color conversion.

[0035] If the first guided vehicle speed is the same as the second guided vehicle speed, and the first traffic light passing result is the same as the second traffic light passing result, then the first vehicle speed guiding information is determined to be accurate. According to the accuracy of each first vehicle speed guiding information, the accuracy rate of the first vehicle speed guiding information can be obtained. The accuracy rate of the first vehicle speed guiding information can be used to determine the first test result.

[0036] Reference Figure 2, showing a schematic diagram of the structure of a test system provided by the present invention. The test system includes an on-board unit (OBU), a roadside unit (RSU) and a control device, which are connected in pairs; the on-board unit is installed with V2X vehicle speed guidance software; the control device can be a computer, a computer and other devices. In this embodiment, the V2X vehicle speed guidance software test method is applied to the control device; S103 may specifically include: Sending the first driving trajectory to the on-board device, and controlling the on-board device to simulate the driving process of the vehicle according to the first driving trajectory; Sending the first traffic light information to the roadside device according to a preset time, and sending the first traffic light information to the vehicle-mounted device through the roadside device; wherein the preset time is the time when the vehicle is at the target location; When simulating the driving process, the V2X vehicle speed guidance software on the vehicle-mounted device is called to generate the first vehicle speed guidance information at the target position based on the target position, target intersection, preset vehicle speed and the first traffic light information.

[0037] In this embodiment, a traffic light simulation Python script can be written according to the communication protocol between the control device and the RSU: the traffic light cycle, current light color, and light color conversion countdown are used as input to write a communication message; the RSU source is set to virtual, the RSU port is set, the RSU is connected to the control device, and the communication message is sent to the RSU through the control device. By using the control device instead of the real signal device to generate and send the first traffic light information, it can reduce capital investment and control the first traffic light information, thereby fully covering various test scenarios.

[0038] In this embodiment, by controlling the preset distance, the preset vehicle speed, and sending the first traffic light information only at the preset time, it is ensured that at the target location, the preset distance, the preset vehicle speed, and the first traffic light information meet the first vehicle speed guidance information generation condition of the V2X vehicle speed guidance software, thereby triggering the V2X vehicle speed guidance software to generate the first vehicle speed guidance information.

[0039] In one embodiment, the V2X vehicle speed guidance software on the vehicle-mounted device is called to generate first vehicle speed guidance information at the target location based on the target location, the target intersection, the preset vehicle speed and the first traffic light information, including: obtaining a map of the target intersection, sending the map of the target intersection to the roadside device, and sending the map of the target intersection to the vehicle-mounted device through the roadside device; calling the V2X vehicle speed guidance software on the vehicle-mounted device to generate the first vehicle speed guidance information at the target location based on the target location, the target intersection, the preset vehicle speed, the first traffic light information and the map of the target intersection.

[0040] In one embodiment, the method also includes: when the first test result meets the preset requirements, generating a second driving trajectory, and sending the second driving trajectory to the vehicle-mounted device; wherein the second driving trajectory includes multiple intersections and the initial speed of the vehicle on the second driving trajectory; controlling the vehicle-mounted device to simulate the vehicle's driving process according to the second driving trajectory; generating second traffic light information for each intersection at a preset time interval, sending the second traffic light information to the roadside device, and sending the second traffic light information to the vehicle-mounted device through the roadside device; when simulating the driving process, calling the V2X vehicle speed guidance software to generate second vehicle speed guidance information based on the second driving trajectory, the initial vehicle speed and the second traffic light information; and determining the second test result of the V2X vehicle speed guidance software according to the second vehicle speed guidance information.

[0041] The first test result meeting the preset requirement may mean that the accuracy of the first vehicle speed guidance information is greater than the accuracy threshold. At this time, the next round of testing, that is, the testing of this embodiment, may be performed.

[0042] In this embodiment, when the vehicle does not accelerate or decelerate according to the second vehicle speed guidance information, the vehicle speed remains at the initial vehicle speed.

[0043] In this embodiment, in the process of simulating the driving of the vehicle according to the second driving trajectory, the second traffic light information of each intersection is continuously generated and sent at a preset time interval, and the V2X vehicle speed guidance software is tested to see whether it can generate the second vehicle speed guidance information in time when the vehicle speed guidance information generation conditions are met, and whether the generated second vehicle speed guidance information is accurate. The second driving trajectory may be the same as or different from the first driving trajectory.

[0044] For example, when the vehicle is 50 m away from the intersection ahead, the vehicle speed is 40 km / h, the traffic light at the intersection ahead is red, and the red light countdown is 5 s. At this time, the conditions for generating the speed guidance information are met, and the V2X speed guidance software should generate the second speed guidance information. If the V2X speed guidance software generates the second speed guidance information at this time, and the second speed guidance information is accurate, then it is determined that this scenario test has passed. If the V2X speed guidance software generates the second speed guidance information at this time, but the second speed guidance information is wrong, then it is determined that this scenario test has failed. If the V2X speed guidance software does not generate the second speed guidance information at this time, then it is determined that this scenario test has failed.

[0045] The method for determining whether the second vehicle speed guidance information is accurate or not is referred to the aforementioned embodiment and will not be elaborated herein.

[0046] In one embodiment, determining a second test result of the V2X vehicle speed guidance software based on the second vehicle speed guidance information includes: obtaining generation conditions of the vehicle speed guidance information of the V2X vehicle speed guidance software; predicting the generation of the second vehicle speed guidance information based on the generation conditions, the second driving trajectory, the initial vehicle speed, and the second traffic light information; and determining the second test result of the V2X vehicle speed guidance software based on the second vehicle speed guidance information and the predicted generation of the second vehicle speed guidance information.

[0047] The predicted second vehicle speed guidance information generation situation may include the predicted scenario information for generating the second vehicle speed guidance information, the third guidance vehicle speed in the scenario, and the third traffic light passing result. According to the actually generated second vehicle speed guidance information, the scenario information for generating the second vehicle speed guidance information, and the predicted second vehicle speed guidance information, it can be determined whether the V2X vehicle speed guidance software generates the second vehicle speed guidance information in a timely manner when the vehicle speed guidance information generation conditions are met, and whether the generated second vehicle speed guidance information is accurate.

[0048] In one embodiment, the control device and the vehicle-mounted device are respectively connected to a message queue telemetry transport protocol (MQTT) server for communication, and the method further includes: subscribing to the MQTT message to obtain the first vehicle speed guidance information through the MQTT message.

[0049] Reference Figure 3 , showing a flow chart of another embodiment of the V2X vehicle speed guidance software testing method provided by the present invention. The traffic light information determination module of the control device is used to generate multiple fixed messages containing the first traffic light information and continuous messages containing the second traffic light information through a Python script. The fixed message is used to be sent to the RSU device at a fixed time according to a preset time, and the continuous message is used to be sent to the RSU device continuously at a preset time interval.

[0050] The trajectory determination module of the control device is used to generate a map file of the intersection and a first driving trajectory / a second driving trajectory, and send the map file of the intersection to the RSU device, and then send the map file to the OBU device through the RSU device, and send the first driving trajectory / a second driving trajectory directly to the OBU device.

[0051] The OBU device simulates the driving process according to the acquired driving trajectory, and the V2X vehicle speed guidance software on the OBU device triggers the generation of vehicle speed guidance information.

[0052] The OBU device and the control device are respectively connected to the MQTT server for communication. The control device obtains the speed guidance information generated by the V2X speed guidance software by subscribing to the MQTT message. The control device compares the speed guidance information generated by the V2X speed guidance software with the expected trigger result to determine the test result.

[0053] Reference Figure 4 , showing a schematic structural diagram of an embodiment of a V2X vehicle speed guidance software testing device provided by the present invention, the device 40 comprises: The trajectory determination module 401 is used to obtain a first driving trajectory of the vehicle; wherein the first driving trajectory includes a target position, a target intersection at a preset distance from the target position, and a preset speed of the vehicle at the target position; A traffic light information determination module 402, configured to obtain preset first traffic light information of the target intersection when the vehicle is at the target location; A V2X vehicle speed guidance software calling module 403, configured to call the V2X vehicle speed guidance software to generate first vehicle speed guidance information at the target position based on the first driving trajectory and the first traffic light information; The test result determination module 404 is used to determine a first test result of the V2X vehicle speed guidance software according to the first vehicle speed guidance information.

[0054] It should be noted that the implementation principles or implementation processes of the above modules can refer to the aforementioned implementation example of the V2X vehicle speed guidance software testing method, and will not be described one by one here.

[0055] In one embodiment, the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored on the memory, and when the computer program is executed by the processor, the steps of any one of the above-mentioned V2X vehicle speed guidance software testing methods are implemented.

[0056] In one embodiment, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by the processor, the steps of any one of the above-mentioned V2X vehicle speed guidance software testing methods are implemented.

[0057] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0058] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A V2X vehicle speed guidance software testing method, characterized in that: include: Acquire a first driving trajectory of the vehicle; wherein the first driving trajectory includes a target position, a target intersection at a preset distance from the target position, and a preset speed of the vehicle at the target position; Obtaining preset first traffic light information of the target intersection when the vehicle is at the target location; Calling V2X vehicle speed guidance software to generate first vehicle speed guidance information at the target location based on the first driving trajectory and the first traffic light information; A first test result of the V2X vehicle speed guidance software is determined according to the first vehicle speed guidance information.

2. The V2X vehicle speed guidance software testing method according to claim 1, characterized in that: The first traffic light information includes the traffic light color and the traffic light color conversion countdown; the first vehicle speed guidance information includes the first guidance vehicle speed and the result of the vehicle passing the first traffic light at the target intersection, and the first test result of the V2X vehicle speed guidance software is determined according to the first vehicle speed guidance information, including: The second vehicle speed guidance information is calculated based on the preset distance, the preset vehicle speed, the traffic light color, and the traffic light color conversion countdown; the second vehicle speed guidance information includes a second guidance vehicle speed and a result of the vehicle passing the second traffic light at the target intersection; A first test result of the V2X vehicle speed guidance software is determined according to the first guiding vehicle speed, the first traffic light passing result, the second guiding vehicle speed and the second traffic light passing result.

3. The V2X vehicle speed guidance software testing method according to claim 1, characterized in that: The V2X vehicle speed guidance software is installed on the vehicle-mounted device of the vehicle; the vehicle-mounted device is respectively connected to the roadside device and the control device for communication; the roadside device is connected to the control device for communication; the method is applied to the control device; The calling of the V2X vehicle speed guidance software to generate the first vehicle speed guidance information at the target location based on the first driving trajectory and the first traffic light information includes: Sending the first driving trajectory to the vehicle-mounted device, and controlling the vehicle-mounted device to simulate a vehicle driving process according to the first driving trajectory; Sending the first traffic light information to the roadside device according to a preset time, and sending the first traffic light information to the vehicle-mounted device through the roadside device; wherein the preset time is the time when the vehicle is at the target location; When simulating the driving process, the V2X vehicle speed guidance software on the vehicle-mounted device is called to generate the first vehicle speed guidance information at the target position based on the target position, the target intersection, the preset vehicle speed and the first traffic light information.

4. The V2X vehicle speed guidance software testing method according to claim 3, characterized in that: The calling of the V2X vehicle speed guidance software on the vehicle-mounted device to generate first vehicle speed guidance information at the target location based on the target location, the target intersection, the preset vehicle speed and the first traffic light information includes: Acquire a map of the target intersection, send the map of the target intersection to the roadside device, and send the map of the target intersection to the vehicle-mounted device through the roadside device; The V2X vehicle speed guidance software on the vehicle-mounted device is called to generate first vehicle speed guidance information at the target location based on the target location, the target intersection, the preset vehicle speed, the first traffic light information and a map of the target intersection.

5. The V2X vehicle speed guidance software testing method according to claim 3, characterized in that: The method further comprises: When the first test result meets the preset requirements, a second driving trajectory is generated, and the second driving trajectory is sent to the vehicle-mounted device; wherein the second driving trajectory includes a plurality of intersections and an initial vehicle speed of the vehicle on the second driving trajectory; Controlling the vehicle-mounted device to simulate a driving process of the vehicle according to the second driving trajectory; Generate second traffic light information for each intersection at a preset time interval, send the second traffic light information to the roadside device, and send the second traffic light information to the vehicle-mounted device through the roadside device; When simulating the driving process, calling the V2X vehicle speed guidance software to generate second vehicle speed guidance information based on the second driving trajectory, the initial vehicle speed and the second traffic light information; A second test result of the V2X vehicle speed guidance software is determined according to the second vehicle speed guidance information.

6. The V2X vehicle speed guidance software testing method according to claim 5, characterized in that: The determining a second test result of the V2X vehicle speed guidance software according to the second vehicle speed guidance information includes: Obtaining a generation condition of vehicle speed guidance information of the V2X vehicle speed guidance software; Predicting the generation of the second vehicle speed guidance information according to the generation condition, the second driving trajectory, the initial vehicle speed, and the second traffic light information; A second test result of the V2X vehicle speed guidance software is determined according to the second vehicle speed guidance information and the predicted generation of the second vehicle speed guidance information.

7. The V2X vehicle speed guidance software testing method according to claim 3, characterized in that: The control device and the vehicle-mounted device are respectively connected to the MQTT server for communication, and the method further includes: Subscribe to the MQTT message to obtain the first vehicle speed guidance information through the MQTT message.

8. A V2X vehicle speed guidance software testing device, characterized in that: include: A trajectory determination module, configured to obtain a first driving trajectory of the vehicle; wherein the first driving trajectory includes a target position, a target intersection at a preset distance from the target position, and a preset speed of the vehicle at the target position; A traffic light information determination module, used to obtain the preset first traffic light information of the target intersection when the vehicle is at the target position; A V2X vehicle speed guidance software calling module, used for calling the V2X vehicle speed guidance software to generate first vehicle speed guidance information at the target position based on the first driving trajectory and the first traffic light information; A test result determination module is used to determine a first test result of the V2X vehicle speed guidance software according to the first vehicle speed guidance information.

9. An electronic device, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the V2X vehicle speed guidance software testing method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer-readable program, wherein when the program or instruction is executed by a processor, the steps in the V2X vehicle speed guidance software testing method described in any one of claims 1 to 7 can be implemented.

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