V2X function test method and system based on driver-in-the-loop

Abstract

The invention provides a V2X function test method and system based on driver-in-the-loop, and the method comprises the steps: operating test execution and management software through an upper computer to call scene simulation software, and displaying a scene interface composed of test scenes on a large scene display screen; the test execution and management software responds to a control instruction sent by a real driver operating the driving simulator according to the simulated traffic environment, a control signal is sent to the scene simulation software, and the scene simulation software controls the driving of the simulation test vehicle based on the control signal; in the driving process, real-time position information of the simulation test vehicle and real-time position information of each simulation object are sent to a tested piece through test execution and management software; according to the real-time position test information of the simulation test vehicle and each simulation object, judging whether the simulation test vehicle meets a V2X early warning function or not through the tested piece; and if the simulation test vehicle meets the V2X early warning function, triggering the corresponding V2X early warning function.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and more specifically, to a V2X functional testing method and system based on driver-in-the-loop. Background Art

[0002] With the rapid development of the automobile industry, in order to improve driving safety, reduce congestion, improve traffic efficiency, and provide in-vehicle entertainment information, vehicle to everything (V2X) wireless communication technology has emerged. Among them, V2X technology is a key technology for future intelligent transportation systems, which can enable communication between vehicles, vehicles and base stations, and base stations and base stations. In this way, a series of traffic information such as real-time road conditions, road information, and pedestrian information can be obtained.

[0003] In the existing V2X function test process, the test vehicle's driving trajectory has been defined in the test scenario in advance, and the test vehicle drives along the defined trajectory to complete the V2X function verification. However, in this way, the test vehicle can only drive along the defined trajectory, and the randomness of the real traffic environment cannot be realized. There are disadvantages such as long test cycle and low test efficiency. In addition, this method requires the construction of a large number of scenarios (laying out experimental backgrounds, experimental dummies and roadside equipment) to cover all test scenarios, which not only has a low safety factor but also a high test cost. Summary of the invention

[0004] In view of this, the present application provides a V2X function testing method and system based on driver-in-the-loop, with the purpose of realizing the randomness of the real traffic environment, shortening the test cycle, improving the test efficiency, improving the safety factor and reducing the test cost.

[0005] In a first aspect, the present application provides a driver-in-the-loop based V2X function test method, which is applied to a driver-in-the-loop based V2X function test system, the system comprising a host computer, a scene display screen, a driving simulator and a device under test, the scene simulation software is configured with a test scene, and the method comprises:

[0006] When the simulation test starts, the host computer runs the test execution and management software to call the scene simulation software, so as to display the scene interface composed of the test scene on the scene display screen; wherein the scene interface includes a simulated traffic environment; the simulated traffic environment includes a simulated test vehicle and a plurality of simulated objects; the host computer includes the scene simulation software and the test execution and management software;

[0007] The test execution and management software responds to the control instructions issued by the real driver operating the driving simulator according to the simulated traffic environment, and sends corresponding control signals to the scenario simulation software, so that the scenario simulation software controls the driving of the simulated test vehicle based on the control signals;

[0008] In the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulation traffic environment and the real-time position information of each simulation object are sent to the tested object through the test execution and management software;

[0009] Determining, by the tested device, whether the simulated test vehicle meets the V2X warning function according to the real-time position test information of the simulated test vehicle and each of the simulated objects;

[0010] If the simulated test vehicle meets the V2X warning function, the corresponding V2X warning function is triggered.

[0011] Optionally, the test execution and management software responds to a control instruction issued by a real driver operating the driving simulator according to the simulated traffic environment, and sends a corresponding control signal to the scenario simulation software, so that the scenario simulation software controls the driving of the simulated test vehicle based on the control signal, including:

[0012] When a control instruction issued by a real driver operating the driving simulator according to the simulated traffic environment is detected, the relevant signal carried by the control instruction is converted into a corresponding control signal through the test execution and management software, and the control signal is forwarded to the scene simulation software;

[0013] The scenario simulation software controls the simulation test vehicle to execute a driving operation corresponding to the control instruction according to the control signal, so as to control the driving of the simulation test vehicle.

[0014] Optionally, the driver-in-the-loop based V2X functional test system further includes a GNSS simulator;

[0015] In the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulation traffic environment and the real-time position information of each simulation object are sent to the tested device through the test execution and management software, including:

[0016] In the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulation traffic environment and the real-time position information of each simulation object are detected in real time by the test execution and management software, and the real-time position information of the simulation test vehicle is sent to the GNSS simulator;

[0017] The real-time position information of the simulated test vehicle is converted into GNSS data in a radio frequency form by the GNSS simulator, and the GNSS data is sent to the device under test;

[0018] The real-time position information of each simulated object is packaged into a corresponding V2X message through the test execution and management software, and the V2X message is sent to the device under test.

[0019] Optionally, judging whether the simulated test vehicle satisfies the V2X warning function by the tested device according to the real-time position test information of the simulated test vehicle and each of the simulated objects includes:

[0020] The GNSS data and the V2X message are parsed by the device under test to obtain real-time position test information of the simulated test vehicle and each of the simulated objects;

[0021] Calculate the distance between the simulated test vehicle and each of the simulated objects by the tested device according to the real-time position test information of the simulated test vehicle and each of the simulated objects; and determine whether the distance between the simulated test vehicle and any of the simulated objects is less than a preset V2X warning function distance.

[0022] If the distance between the simulated test vehicle and any of the simulated objects is less than the V2X warning function distance, determining that the simulated test vehicle meets the V2X warning function;

[0023] If there is no distance between the simulated test vehicle and any of the simulated objects that is less than the V2X warning function distance, it is determined that the simulated test vehicle does not meet the V2X warning function.

[0024] Optionally, while triggering a corresponding V2X warning function, the method further includes:

[0025] Sending a V2X warning function signal to the test execution and management software through the device under test;

[0026] The test execution and management software verifies the V2X function test result based on the V2X early warning function signal, and generates a corresponding test report according to the obtained verification result.

[0027] Optionally, the method further includes:

[0028] The test execution and management software generates corresponding V2X warning function information according to the V2X warning function signal, and displays the V2X warning function information on the scene display large screen.

[0029] The second aspect of the present application provides a V2X function test system based on a driver in the loop, the system comprising a host computer, a scene display screen, a driving simulator and a device under test, and the scene simulation software is configured with a test scene;

[0030] The host computer is used to run the test execution and management software to call the scene simulation software when detecting the start of the simulation test, so as to display the scene interface composed of the test scene on the scene display large screen; wherein the scene interface includes a simulated traffic environment; the simulated traffic environment includes a simulated test vehicle and a plurality of simulated objects; the host computer includes the scene simulation software and the test execution and management software;

[0031] The test execution and management software is used to respond to the control instructions issued by the real driver operating the driving simulator according to the simulated traffic environment, send corresponding control signals to the scenario simulation software, so that the scenario simulation software controls the driving of the simulated test vehicle based on the control signals; in the process of controlling the driving of the simulated test vehicle, send the real-time position information of the simulated test vehicle in the simulated traffic environment and the real-time position information of each simulated object to the tested object;

[0032] The device under test is used to determine whether the simulated test vehicle meets the V2X warning function according to the real-time position test information of the simulated test vehicle and each of the simulated objects; if the simulated test vehicle meets the V2X function test, trigger the corresponding V2X warning function.

[0033] Optionally, the test execution and management software that responds to the control instruction issued by the real driver operating the driving simulator according to the simulated traffic environment sends a corresponding control signal to the scenario simulation software, so that the scenario simulation software controls the driving of the simulated test vehicle based on the control signal, specifically for:

[0034] When it is detected that a real driver operates the driving simulator according to the simulated traffic environment and issues a control instruction, the test execution and management software converts the relevant signal carried by the control instruction into a corresponding control signal, and forwards the control signal to the scene simulation software; the scene simulation software controls the simulated test vehicle to execute the driving operation corresponding to the control instruction according to the control signal, so as to control the driving of the simulated test vehicle.

[0035] Optionally, the driver-in-the-loop based V2X function test system further includes a GNSS simulator; in the process of controlling the driving of the simulated test vehicle, the real-time position information of the simulated test vehicle in the simulated traffic environment and the real-time position information of each simulated object are sent to the test execution and management software of the device under test, specifically for:

[0036] In the process of controlling the driving of the simulated test vehicle, the real-time position information of the simulated test vehicle in the simulated traffic environment and the real-time position information of each simulated object are detected in real time; the real-time position information of the simulated test vehicle is sent to the GNSS simulator, so that the GNSS simulator converts the real-time position information of the simulated test vehicle into GNSS data in radio frequency form, and sends the GNSS data to the device under test; the real-time position information of each simulated object is packaged into a corresponding V2X message, and the V2X message is sent to the device under test.

[0037] Optionally, judging whether the simulated test vehicle meets the requirements of the V2X warning function according to the real-time position test information of the simulated test vehicle and each of the simulated objects is specifically used for:

[0038] The GNSS data and the V2X message are parsed to obtain real-time position test information of the simulation test vehicle and each of the simulation objects; the distance between the simulation test vehicle and each of the simulation objects is calculated according to the real-time position test information of the simulation test vehicle and each of the simulation objects; it is determined whether the distance between the simulation test vehicle and any of the simulation objects is less than a preset V2X warning function distance; if the distance between the simulation test vehicle and any of the simulation objects is less than the V2X warning function distance, it is determined that the simulation test vehicle meets the V2X warning function; if the distance between the simulation test vehicle and any of the simulation objects is not less than the V2X warning function distance, it is determined that the simulation test vehicle does not meet the V2X warning function.

[0039] The present application provides a V2X function test method and system based on driver-in-the-loop. In order to be closer to the real and complex traffic environment and meet the requirements of the real driver controlling the simulated test vehicle to drive different trajectories in the same scene to trigger the expected V2X warning function, multiple simulation objects required in the test scene built by the scene simulation software can be used to achieve the randomness of the real traffic environment without a large number of scenes, which not only has a high safety factor but also a low test cost; and when the start of the simulation test is detected, the scene simulation software is called by the host computer running the test execution and management software to display the scene interface composed of the test scene on the scene display large screen, so as to respond to the control instructions issued by the real driver to operate the driving simulator according to the simulated traffic environment in the scene interface through the test execution and management software, A corresponding control signal is sent to the scenario simulation software, so that the scenario simulation software controls the driving of the simulation test vehicle based on the control signal; in the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulated traffic environment and the real-time position information of each of the simulated objects are sent to the device under test through the test execution and management software; the device under test determines whether the simulation test vehicle meets the V2X warning function according to the real-time position test information of the simulation test vehicle and each of the simulated objects, so that when it is determined that the simulation test vehicle meets the V2X warning function, the corresponding V2X warning function is triggered, which can not only effectively complete the V2X function test, but also shorten the V2X function test cycle and improve the V2X function test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0041] Figure 1 A schematic diagram of the structure of a V2X function test system based on a driver-in-the-loop provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of the structure of another V2X functional test system based on a driver-in-the-loop provided in an embodiment of the present application;

[0043] Figure 3 A flowchart of a V2X function testing method based on a driver-in-the-loop is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] In this application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0046] See also Figure 1 , shows a schematic diagram of the structure of a V2X function test system based on a driver in the loop provided in an embodiment of the present application, the V2X function test system based on a driver in the loop at least includes a scene display screen, a real driver, a driving simulator, a host computer and a device under test; wherein the host computer is pre-configured with scene simulation software and test execution and management software; the scene simulation software is connected to the scene display screen; the scene simulation software is pre-configured with corresponding test scenes and their hardware devices, and the test scene includes multiple simulation objects; the real driver controls the simulated test vehicle through the driving simulator; the driving simulator is connected to the test execution and management software; the test execution and management software is connected to the device under test;

[0047] The host computer is used to run the test execution and management software to call the scene simulation software when detecting the start of the simulation test, so as to display the scene interface composed of the test scene on the scene display screen; wherein the scene interface includes the simulated traffic environment; the simulated traffic environment includes the simulated test vehicle and multiple simulated objects; the host computer includes the scene simulation software and the test execution and management software;

[0048] The test execution and management software is used to respond to the control instructions issued by the real driver operating the driving simulator according to the simulated traffic environment, and send corresponding control signals to the scene simulation software, so that the scene simulation software controls the driving of the simulated test vehicle based on the control signals; in the process of controlling the driving of the simulated test vehicle, the real-time position information of the simulated test vehicle in the simulated traffic environment and the real-time position information of each simulated object are sent to the device under test;

[0049] The device under test is used to determine whether the simulated test vehicle meets the V2X warning function based on the real-time position test information of the simulated test vehicle and each simulated object; if the simulated test vehicle meets the V2X function test, the corresponding V2X warning function is triggered.

[0050] In the embodiment of the present application, in order to be closer to the real and complex traffic environment and meet the requirements of the real driver controlling the simulated test vehicle to drive different trajectories in the same scene to trigger the expected V2X warning function, multiple simulated objects required in the test scene built by the scene simulation software can be used, such as simulated background vehicles with diverse motion trajectories, simulated non-motor vehicle units, simulated roadside units RUS, traffic intersections, roadside conditions with rich forms, and roadside signs. So that at the beginning of the simulation test, the scene simulation software is called by the host computer running the test execution and management software to display the scene interface composed of the test scene on the scene display screen, so that the real driver can intuitively see the traffic environment displayed on the scene display screen, and automatically control the driving of the simulated test vehicle through the driving simulator according to the displayed traffic environment.

[0051] In some embodiments, the scene display screen is used to display a scene interface composed of a test scene of the scene simulation software in a first perspective; wherein the first perspective is the perspective of a real driver; the test scene in the simulation test software includes multiple simulated objects, and accordingly, the simulated traffic environment contained in the scene interface composed of the test scene will also include multiple simulated objects.

[0052] It should be noted that the multiple simulated objects may include: simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, multiple traffic intersections, multiple road conditions, roadside signs, etc., which are not limited in the embodiments of the present application.

[0053] It should also be noted that by pre-defining the positional relationship between the road network structure, road conditions, simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU and the vehicle under test, it is possible to build a test scenario corresponding to the simulated test vehicle. There is no need to build a large number of scenarios in a real environment as in the prior art, thereby improving the corresponding safety factor and reducing the corresponding testing cost.

[0054] In some embodiments, the scene display screen is arranged directly in front of the real driver and the driving simulator, so that during the simulation test, the real driver can intuitively see the traffic environment displayed on the scene display screen, and automatically control the driving of the simulated test vehicle through the driving simulator according to the displayed traffic environment.

[0055] It should be noted that the driving simulator includes a steering wheel, accelerator pedal, brake pedal, gear lever, steering column switch, etc. The real driver controls the steering wheel, accelerator pedal, brake pedal, gear lever, steering column switch, etc. of the simulated test vehicle through the driving simulator according to the displayed simulated traffic environment, thereby controlling the driving trajectory of the simulated test vehicle. Among them, the steering column switch provides turn signals and wiper signals for the simulated test vehicle.

[0056] In an embodiment of the present application, a real driver can operate a driving simulator to issue corresponding control instructions according to the simulated traffic environment displayed on the scene display screen, so that when the test execution and management software detects the control instruction issued by the driving simulator, it sends a corresponding control signal to the scene simulation software based on the control instruction, so that the scene simulation software controls the driving trajectory of the simulated test vehicle according to the received control signal.

[0057] Optionally, when it is detected that a real driver operates a driving simulator according to a simulated traffic environment and issues a control instruction, the test execution and management software converts the relevant signal carried by the control instruction into a corresponding control signal, and forwards the control signal to the scenario simulation software; the scenario simulation software controls the simulated test vehicle to execute the driving operation corresponding to the control instruction according to the control signal, so as to control the driving of the simulated test vehicle.

[0058] In actual application, the driving simulator is connected to the test execution and management software through a connectionless transport layer protocol (User Datagram Protocol, UDP); the driving simulator can send corresponding control execution to the test execution and management software through UDP according to the control operation of the real driver, wherein the control instruction carries the relevant signal corresponding to the control operation; the test execution and management software converts the relevant signal carried by the control instruction into a corresponding control signal, and forwards the control signal to the scenario simulation software; the scenario simulation software controls the simulated test vehicle to execute the driving operation corresponding to the control instruction according to the control signal, so as to control the driving trajectory of the simulated test vehicle.

[0059] It should be noted that the control operation may be turning the steering wheel, stepping on the brakes, stepping on the accelerator, etc. Correspondingly, the relevant signals may be steering wheel signals, brake signals, accelerator pedal signals, etc., which are not limited in the embodiments of the present application.

[0060] In the embodiments of the present application, Figure 1See also Figure 2 The V2X functional test system based on driver-in-the-loop can include a GNSS simulator, a comprehensive tester and a CAN / ETH communication interface card on the basis of a scene display screen, a real driver, a driving simulator, a host computer and a device under test; wherein the test execution and management software are connected to the GNSS simulator and the comprehensive tester respectively through TCP; the GNSS simulator is connected to the device under test through GNSS; the comprehensive tester is connected to the device under test through PCS; the test execution and management software is connected to the CAN / ETH communication interface card through CAN / ETH, and the CAN / ETH communication interface card is connected to the device under test through CAN / ETH.

[0061] In this embodiment, the role of the test execution and management software is to define the V2X messages of simulated objects such as simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, etc. through its own V2X protocol stack management platform; among them, the V2X messages can be basic safety messages (Basic Safety Message, BSM), roadside safety messages (Roadside Safety Message, RSM), signal light messages (Signal Phase and Timing, SPAT), roadside messages (Road Side Information, RSI), MAP messages, etc., which are not limited in this embodiment of the present application.

[0062] It should be noted that the test execution and management software fills the message layer data on the protocol stack management platform; among them, the message layer data set is defined using the ASN.1 standard and is formulated following the nested logic of "message frame-message body-data frame-data element".

[0063] In this embodiment, the role of the GNSS simulator is to convert the position information of the simulated test vehicle in the test scenario into GNSS data and inject it into the device under test in the form of radio frequency; the role of the comprehensive tester is to provide a PC5 radio frequency channel, broadcast the V2X messages of the simulated background vehicles, simulated non-motor vehicle units, and simulated roadside units RSU defined by the test execution and management software in the form of PC5 air interface, and receive the BSM messages sent by the device under test; the role of the CAN / ETH communication interface card is to collect the CAN / ETH signals sent by the device under test, and send the collected CAN / ETH signals to the test execution and management software for analysis and display.

[0064] It should be noted that the V2X message of the simulated test vehicle is displayed on CANo. The V2X message of the simulated test vehicle is sent by the device under test, received through the PC5 message channel of the comprehensive tester, and then sent to the test execution and management software. The test execution and management software will decode the received V2X message according to the V2X protocol stack and then display it in the test execution and management software.

[0065] CAN / ETH bus data is the data used by the V2X function DUT in the vehicle under test (simulated test vehicle) to communicate with other controllers in the vehicle. The test execution and management software can obtain the bus data sent by the DUT through the CAN / ETH bus interface card, and then parse and display it through the pre-loaded bus database.

[0066] Optionally, in the process of controlling the driving of the simulated test vehicle, the real-time position information of the simulated test vehicle in the simulated traffic environment and the real-time position information of each simulated object are detected in real time, and the real-time position information of the simulated test vehicle is sent to the GNSS simulator; the real-time position information of the simulated test vehicle is converted into GNSS data in radio frequency form through the GNSS simulator, and the GNSS data is sent to the device under test; the real-time position information of each simulated object is packaged into a corresponding V2X message through the test execution and management software, and the V2X message is sent to the device under test.

[0067] In actual application, it is assumed that the various simulated objects in the test scene include simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, traffic, road conditions, roadside signs, etc.; in the process of controlling the driving of the simulated vehicle, the longitude and latitude coordinate information and type of the simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, traffic, road conditions, roadside signs and other parameter data (real-time location information) can be sent to the test execution and management software in real time; the test execution and management key packages the received parameter data into various V2X messages and sends them to the device under test through the comprehensive tester. The test execution and management software will also send the real-time location information (longitude and latitude coordinate information and type) of the detected simulated test vehicle in the currently displayed simulated traffic environment to the GNSS simulator in real time, so that the GNSS simulator converts the real-time location information of the simulated test vehicle into GNSS data in radio frequency form, and sends the GNSS data to the device under test.

[0068] In an embodiment of the present application, during the driving process of the simulation test vehicle, when the tested device receives the V2X message and GNSS data sent by the test execution and management software, the GNSS data and the V2X message can be parsed to obtain the real-time position test information of the simulation test vehicle and each simulated object, and the distance between the simulation test vehicle and each simulated object is calculated based on the real-time position test information of the simulation test vehicle and each simulated object; it is determined whether the distance between the simulation test vehicle and any simulated object is less than the preset V2X warning function distance; if the distance between the simulation test vehicle and any simulated object is less than the V2X warning function distance, it is determined that the simulation test vehicle meets the V2X warning function; if the distance between the simulation test vehicle and any simulated object is not less than the V2X warning function distance, it is determined that the simulation test vehicle does not meet the V2X warning function.

[0069] It should be noted that the corresponding V2X warning function distance can be pre-set, and the specific value of the V2X warning function distance can be set according to actual applications, which is not limited in the embodiments of the present application.

[0070] In some implementations, assuming that the various simulated objects in the test scene include simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, traffic, road conditions, and roadside signs, then the distances between the simulated test vehicle and the various simulated objects in the assumed test scene, including simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, traffic, road conditions, and roadside signs, can be calculated, so as to determine whether the simulated test vehicle meets the V2X warning function based on the calculated distances, and if it is determined that the V2X warning function is met, trigger the corresponding V2X warning function.

[0071] It should be noted that the V2X warning function can be a forward collision warning. For example, during the driving of the simulated test vehicle, if there is a simulated background vehicle directly in front of the simulated test vehicle, at this time, the test execution and management software will package the real-time position information of the simulated background vehicle in the simulated traffic environment into a BSM message, and send the BSM message to the device under test; after the device under test receives the corresponding BSM message, it can use internal logic to calculate the distance between the simulated background vehicle and the simulated test vehicle according to the real-time position information of the simulated background vehicle and the real-time position information of the simulated test vehicle in the BSM message. If the distance is less than the preset V2X warning function distance, it is determined that the simulated test vehicle meets the V2X warning function, and a forward collision warning will be triggered at this time.

[0072] Furthermore, in the embodiment of the present application, the device under test can also send a V2X warning function signal to the test execution and management software while triggering the corresponding V2X warning function; the test execution and management software verifies the V2X function test result based on the V2X warning function signal, and generates a corresponding test report based on the obtained verification result. In addition, the corresponding V2X warning function information can also be generated based on the V2X warning function signal, and the V2X warning function information can be displayed on the scene display screen to remind the real driver that the corresponding V2X warning function currently exists, so that the real driver can make a corresponding response in time.

[0073] In actual application, when the DUT triggers the corresponding V2X warning function, it can generate the corresponding V2X warning function signal and send the V2X warning function signal to the CAN / ETH communication interface card, so that the CAN / ETH communication interface card sends the received V2X warning function signal to the test execution and management software; the test execution and management software verifies the received V2X warning function signal, that is, determines whether the value carried in the V2X warning function signal is 1; if it is 1, it can be determined that the V2X warning function currently exists, otherwise it is determined that the V2X warning function currently does not exist; when it is determined that the V2X warning function currently exists, V2X warning function information in the form of pictures or sounds is generated, and the V2X warning function information is displayed or output on the scene display screen; at the same time, after the test is completed, its own test script can be called to generate a corresponding test report including all steps involved in the test execution process, the information generated by executing each step, and the final result (the existence of the V2X warning function).

[0074] The present application provides a V2X function test system based on driver-in-the-loop. In order to be closer to the real and complex traffic environment and meet the needs of the real driver controlling the simulated test vehicle to drive different trajectories in the same scene to trigger the expected V2X warning function, the system can use multiple simulation objects required in the test scene built by the scene simulation software, so as to realize the randomness of the real traffic environment without a large number of scenes, which not only has a high safety factor but also a low test cost; and when the start of the simulation test is detected, the scene simulation software is called by the host computer running the test execution and management software to display the scene interface composed of the test scene on the scene display large screen, so as to respond to the real driver operating the driving simulator according to the simulated traffic environment in the scene interface through the test execution and management software. The control instructions issued by the simulator send corresponding control signals to the scenario simulation software, so that the scenario simulation software controls the driving of the simulation test vehicle based on the control signals; in the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulated traffic environment and the real-time position information of each simulated object are sent to the device under test through the test execution and management software; the device under test determines whether the simulation test vehicle meets the V2X early warning function according to the real-time position test information of the simulation test vehicle and each simulated object, so that when it is determined that the simulation test vehicle meets the V2X early warning function, the corresponding V2X early warning function is triggered, which can not only effectively complete the V2X function test, but also shorten the V2X function test cycle and improve the efficiency of the V2X function test.

[0075] based on Figure 1 The V2X function test system based on driver in the loop is shown. Accordingly, the present application provides a V2X function test method based on driver in the loop, such as Figure 3 As shown, the method specifically comprises the following steps:

[0076] S301: When it is detected that the simulation test starts, the scenario simulation software is called by running the test execution and management software through the host computer to display the scenario interface composed of the test scenario on the scene display screen; wherein, the scenario interface includes a simulated traffic environment; the simulated traffic environment includes a simulated test vehicle and multiple simulated objects; the host computer includes scenario simulation software and test execution and management software.

[0077] In the embodiment of the present application, in order to be closer to the real and complex traffic environment and meet the requirements of the real driver controlling the simulated test vehicle to drive different trajectories in the same scene to trigger the expected V2X warning function, multiple simulated objects required in the test scene built by the scene simulation software can be used, such as simulated background vehicles with diverse motion trajectories, simulated non-motor vehicle units, simulated roadside units RUS, traffic intersections, roadside conditions with rich forms, and roadside signs. So that at the beginning of the simulation test, the scene simulation software is called by the host computer running the test execution and management software to display the scene interface composed of the test scene on the scene display screen, so that the real driver can intuitively see the traffic environment displayed on the scene display screen, and automatically control the driving of the simulated test vehicle through the driving simulator according to the displayed traffic environment.

[0078] In some embodiments, the scene display screen is used to display a scene interface composed of a test scene of the scene simulation software in a first perspective; wherein the first perspective is the perspective of a real driver; the test scene in the simulation test software includes multiple simulated objects, and accordingly, the simulated traffic environment contained in the scene interface composed of the test scene will also include multiple simulated objects.

[0079] It should be noted that the multiple simulated objects may include: simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, multiple traffic intersections, multiple road conditions, roadside signs, etc., which are not limited in the embodiments of the present application.

[0080] It should also be noted that by pre-defining the positional relationship between the road network structure, road conditions, simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU and the vehicle under test, it is possible to build a test scenario corresponding to the simulated test vehicle. There is no need to build a large number of scenarios in a real environment as in the prior art, thereby improving the corresponding safety factor and reducing the corresponding testing cost.

[0081] S302: The test execution and management software responds to the control instructions issued by the real driver operating the driving simulator according to the simulated traffic environment, and sends corresponding control signals to the scene simulation software, so that the scene simulation software controls the driving of the simulated test vehicle based on the control signals.

[0082] In some embodiments, the scene display screen is arranged directly in front of the real driver and the driving simulator, so that during the simulation test, the real driver can intuitively see the traffic environment displayed on the scene display screen, and automatically control the driving of the simulated test vehicle through the driving simulator according to the displayed traffic environment.

[0083] It should be noted that the driving simulator includes a steering wheel, accelerator pedal, brake pedal, gear lever, steering column switch, etc. The real driver controls the steering wheel, accelerator pedal, brake pedal, gear lever, steering column switch, etc. of the simulated test vehicle through the driving simulator according to the displayed simulated traffic environment, thereby controlling the driving trajectory of the simulated test vehicle. Among them, the steering column switch provides turn signals and wiper signals for the simulated test vehicle.

[0084] In an embodiment of the present application, a real driver can operate a driving simulator to issue corresponding control instructions according to the simulated traffic environment displayed on the scene display screen, so that when the test execution and management software detects the control instruction issued by the driving simulator, it sends a corresponding control signal to the scene simulation software based on the control instruction, so that the scene simulation software controls the driving trajectory of the simulated test vehicle according to the received control signal.

[0085] Optionally, when it is detected that a real driver operates a driving simulator according to a simulated traffic environment and issues a control instruction, the test execution and management software converts the relevant signal carried by the control instruction into a corresponding control signal, and forwards the control signal to the scenario simulation software; the scenario simulation software controls the simulated test vehicle to execute the driving operation corresponding to the control instruction according to the control signal, so as to control the driving of the simulated test vehicle.

[0086] During actual application, the driving simulator is connected to the test execution and management software via UDP; the driving simulator can send corresponding control executions to the test execution and management software via UDP according to the control operations of the real driver, wherein the control instructions carry relevant signals corresponding to the control operations; the test execution and management software converts the relevant signals carried by the control instructions into corresponding control signals, and forwards the control signals to the scenario simulation software; the scenario simulation software controls the simulated test vehicle to execute driving operations corresponding to the control instructions according to the control signals, so as to control the driving trajectory of the simulated test vehicle.

[0087] It should be noted that the control operation may be turning the steering wheel, stepping on the brakes, stepping on the accelerator, etc. Correspondingly, the relevant signals may be steering wheel signals, brake signals, accelerator pedal signals, etc., which are not limited in the embodiments of the present application.

[0088] S303: In the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulated traffic environment and the real-time position information of each simulated object are sent to the device under test through the test execution and management software.

[0089] In the examples of this application, see Figure 2The V2X functional test system based on driver-in-the-loop can include a GNSS simulator, a comprehensive tester and a CAN / ETH communication interface card on the basis of a scene display screen, a real driver, a driving simulator, a host computer and a device under test; wherein the test execution and management software are connected to the GNSS simulator and the comprehensive tester respectively through TCP; the GNSS simulator is connected to the device under test through GNSS; the comprehensive tester is connected to the device under test through PCS; the test execution and management software is connected to the CAN / ETH communication interface card through CAN / ETH, and the CAN / ETH communication interface card is connected to the device under test through CAN / ETH.

[0090] In this embodiment, the role of the test execution and management software is to define the V2X messages of simulated objects such as simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, etc. through its own V2X protocol stack management platform; among them, the V2X messages can be BSM, RSM, SPAT, RS, MAP, etc., which are not limited in this embodiment of the present application.

[0091] It should be noted that the V2X message of the simulated test vehicle is displayed on CAN. The V2X message of the simulated test vehicle is sent by the DUT, received through the PC5 message channel of the comprehensive tester and sent to the test execution and management software. The test execution and management software will decode the received V2X message according to the V2X protocol stack and then display it in the test execution and management software. CAN / ETH bus data is the data of the communication between the V2X function DUT in the tested vehicle and other controllers in the vehicle. The test execution and management software can obtain the bus data sent by the DUT through the CAN / ETH bus interface card, and then parse and display it through the pre-loaded bus database.

[0092] Optionally, in the process of controlling the driving of the simulated test vehicle, the real-time position information of the simulated test vehicle in the simulated traffic environment and the real-time position information of each simulated object are detected in real time, and the real-time position information of the simulated test vehicle is sent to the GNSS simulator; the real-time position information of the simulated test vehicle is converted into GNSS data in radio frequency form through the GNSS simulator, and the GNSS data is sent to the device under test; the real-time position information of each simulated object is packaged into a corresponding V2X message through the test execution and management software, and the V2X message is sent to the device under test.

[0093] In actual application, it is assumed that the various simulated objects in the test scene include simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, traffic, road conditions, roadside signs, etc.; in the process of controlling the driving of the simulated vehicle, the longitude and latitude coordinate information and type of the simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, traffic, road conditions, roadside signs and other parameter data (real-time location information) can be sent to the test execution and management software in real time; the test execution and management key packages the received parameter data into various V2X messages and sends them to the device under test through the comprehensive tester. The test execution and management software will also send the real-time location information (longitude and latitude coordinate information and type) of the detected simulated test vehicle in the currently displayed simulated traffic environment to the GNSS simulator in real time, so that the GNSS simulator converts the real-time location information of the simulated test vehicle into GNSS data in radio frequency form, and sends the GNSS data to the device under test.

[0094] S304: Determine whether the simulated test vehicle meets the V2X warning function based on the real-time position test information of the simulated test vehicle and each simulated object through the tested device; if the simulated test vehicle meets the V2X warning function, execute step S305.

[0095] In an embodiment of the present application, during the driving process of the simulation test vehicle, when the tested device receives the V2X message and GNSS data sent by the test execution and management software, the GNSS data and the V2X message can be parsed to obtain the real-time position test information of the simulation test vehicle and each simulated object, and the distance between the simulation test vehicle and each simulated object is calculated based on the real-time position test information of the simulation test vehicle and each simulated object; it is determined whether the distance between the simulation test vehicle and any simulated object is less than the preset V2X warning function distance; if the distance between the simulation test vehicle and any simulated object is less than the V2X warning function distance, it is determined that the simulation test vehicle meets the V2X warning function; if the distance between the simulation test vehicle and any simulated object is not less than the V2X warning function distance, it is determined that the simulation test vehicle does not meet the V2X warning function.

[0096] It should be noted that the corresponding V2X warning function distance can be pre-set, and the specific value of the V2X warning function distance can be set according to actual applications, which is not limited in the embodiments of the present application.

[0097] In some implementations, assuming that the various simulated objects in the test scene include simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, traffic, road conditions, and roadside signs, then the test piece can calculate the distance between the simulated test vehicle and the various simulated objects in the assumed test scene, including simulated background vehicles, simulated non-motor vehicle units, simulated roadside units RSU, traffic, road conditions, and roadside signs, so as to determine whether the simulated test vehicle meets the V2X warning function based on the calculated distance, and if it is determined that the V2X warning function is met, trigger the corresponding V2X warning function, that is, execute step S305.

[0098] It should be noted that the V2X warning function can be a forward collision warning. For example, during the driving of the simulated test vehicle, if there is a simulated background vehicle directly in front of the simulated test vehicle, at this time, the test execution and management software will package the real-time position information of the simulated background vehicle in the simulated traffic environment into a BSM message, and send the BSM message to the device under test; after the device under test receives the corresponding BSM message, it can use internal logic to calculate the distance between the simulated background vehicle and the simulated test vehicle according to the real-time position information of the simulated background vehicle and the real-time position information of the simulated test vehicle in the BSM message. If the distance is less than the preset V2X warning function distance, it is determined that the simulated test vehicle meets the V2X warning function, and a forward collision warning will be triggered at this time.

[0099] Furthermore, in the embodiment of the present application, the device under test can also send a V2X warning function signal to the test execution and management software while triggering the corresponding V2X warning function; the test execution and management software verifies the V2X function test result based on the V2X warning function signal, and generates a corresponding test report based on the obtained verification result. In addition, the corresponding V2X warning function information can also be generated based on the V2X warning function signal, and the V2X warning function information can be displayed on the scene display screen to remind the real driver that the corresponding V2X warning function currently exists, so that the real driver can make a corresponding response in time.

[0100] In actual application, when the corresponding V2X warning function is triggered, the tested device can generate a corresponding V2X warning function signal, and send the V2X warning function signal to the CAN / ETH communication interface card, so that the CAN / ETH communication interface card sends the received V2X warning function signal to the test execution and management software; the test execution and management software verifies the received V2X warning function signal, that is, determines whether the value carried in the V2X warning function signal is 1; if it is 1, it can be determined that the V2X warning function currently exists, otherwise it is determined that the V2X warning function currently does not exist; when it is determined that the V2X warning function currently exists, V2X warning function information in the form of pictures or sounds is generated, and the V2X warning function information is displayed or output on the scene display large screen; at the same time, after the test results, it can also call its own test script to generate a corresponding test report including all steps involved in the test execution process and the information and results generated by executing each step.

[0101] It should also be noted that, when it is determined that the simulated test vehicle does not meet the V2X warning function, the DUT can also generate a corresponding V2X function signal and send the V2X function signal to the test execution and management software through the CAN / ETH communication interface card; the test execution and management software verifies the received V2X function signal, that is, determines whether the value carried in the V2X function signal is 0; if it is 0, it can call its own test script at the end of the test to generate a corresponding test report including all the steps set during the test execution, the information generated by executing each step, and the final result (there is no V2X warning function).

[0102] S305: triggering a corresponding V2X warning function through the device under test.

[0103] The present application provides a V2X function testing method based on driver-in-the-loop. In order to be closer to the real and complex traffic environment and meet the requirements of the real driver controlling the simulated test vehicle to drive different trajectories in the same scene to trigger the expected V2X warning function, multiple simulation objects required in the test scene built by the scene simulation software can be used to achieve the randomness of the real traffic environment without a large number of scenes, which not only has a high safety factor but also a low test cost; and when the start of the simulation test is detected, the scene simulation software is called by running the test execution and management software on the upper computer to display the scene interface composed of the test scene on the scene display large screen, so as to respond to the real driver's operation of the driving simulator according to the simulated traffic environment in the scene interface through the test execution and management software. The control instructions issued by the simulator send corresponding control signals to the scenario simulation software, so that the scenario simulation software controls the driving of the simulation test vehicle based on the control signals; in the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulated traffic environment and the real-time position information of each simulated object are sent to the device under test through the test execution and management software; the device under test determines whether the simulation test vehicle meets the V2X early warning function according to the real-time position test information of the simulation test vehicle and each simulated object, so that when it is determined that the simulation test vehicle meets the V2X early warning function, the corresponding V2X early warning function is triggered, which can not only effectively complete the V2X function test, but also shorten the V2X function test cycle and improve the efficiency of the V2X function test.

[0104] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, in which the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0105] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0106] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0107] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A V2X function testing method based on driver-in-the-loop, characterized in that: Applied to a V2X function test system based on a driver in the loop, the system includes a host computer, a scene display screen, a driving simulator and a device under test, the scene simulation software is configured with a test scene, and the method includes: When the simulation test starts, the host computer runs the test execution and management software to call the scene simulation software, so as to display the scene interface composed of the test scene on the scene display screen; wherein the scene interface includes a simulated traffic environment; the simulated traffic environment includes a simulated test vehicle and a plurality of simulated objects; the host computer includes the scene simulation software and the test execution and management software; The test execution and management software responds to the control instructions issued by the real driver operating the driving simulator according to the simulated traffic environment, and sends corresponding control signals to the scenario simulation software, so that the scenario simulation software controls the driving of the simulated test vehicle based on the control signals; In the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulation traffic environment and the real-time position information of each simulation object are sent to the tested object through the test execution and management software; Determining, by the tested device, whether the simulated test vehicle meets the V2X warning function according to the real-time position test information of the simulated test vehicle and each of the simulated objects; If the simulated test vehicle meets the V2X warning function, the corresponding V2X warning function is triggered.

2. The method according to claim 1, characterized in that The test execution and management software responds to the control instruction issued by the real driver operating the driving simulator according to the simulated traffic environment, sends a corresponding control signal to the scenario simulation software, and enables the scenario simulation software to control the driving of the simulated test vehicle based on the control signal, including: When a control instruction issued by a real driver operating the driving simulator according to the simulated traffic environment is detected, the relevant signal carried by the control instruction is converted into a corresponding control signal through the test execution and management software, and the control signal is forwarded to the scene simulation software; The scenario simulation software controls the simulation test vehicle to execute a driving operation corresponding to the control instruction according to the control signal, so as to control the driving of the simulation test vehicle.

3. The method according to claim 1, characterized in that The driver-in-the-loop based V2X functional test system also includes a GNSS simulator; In the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulation traffic environment and the real-time position information of each simulation object are sent to the tested device through the test execution and management software, including: In the process of controlling the driving of the simulation test vehicle, the real-time position information of the simulation test vehicle in the simulation traffic environment and the real-time position information of each simulation object are detected in real time by the test execution and management software, and the real-time position information of the simulation test vehicle is sent to the GNSS simulator; The real-time position information of the simulated test vehicle is converted into GNSS data in a radio frequency form by the GNSS simulator, and the GNSS data is sent to the device under test; The real-time position information of each simulated object is packaged into a corresponding V2X message through the test execution and management software, and the V2X message is sent to the device under test.

4. The method according to claim 3, characterized in that The determining, by the tested device according to the real-time position test information of the simulated test vehicle and each of the simulated objects, whether the simulated test vehicle satisfies the V2X warning function includes: The GNSS data and the V2X message are parsed by the device under test to obtain real-time position test information of the simulated test vehicle and each of the simulated objects; Calculate the distance between the simulated test vehicle and each of the simulated objects by the tested device according to the real-time position test information of the simulated test vehicle and each of the simulated objects; and determine whether the distance between the simulated test vehicle and any of the simulated objects is less than a preset V2X warning function distance. If the distance between the simulated test vehicle and any of the simulated objects is less than the V2X warning function distance, determining that the simulated test vehicle meets the V2X warning function; If there is no distance between the simulated test vehicle and any of the simulated objects that is less than the V2X warning function distance, it is determined that the simulated test vehicle does not meet the V2X warning function.

5. The method according to claim 1, characterized in that While triggering the corresponding V2X warning function, the method further includes: Sending a V2X warning function signal to the test execution and management software through the device under test; The test execution and management software verifies the V2X function test result based on the V2X early warning function signal, and generates a corresponding test report according to the obtained verification result.

6. The method according to claim 5, characterized in that The method further comprises: The test execution and management software generates corresponding V2X warning function information according to the V2X warning function signal, and displays the V2X warning function information on the scene display large screen.

7. A V2X functional test system based on driver-in-the-loop, characterized in that: The system includes a host computer, a scene display screen, a driving simulator and a device under test, and the scene simulation software is configured with a test scene; The host computer is used to run the test execution and management software to call the scene simulation software when detecting the start of the simulation test, so as to display the scene interface composed of the test scene on the scene display large screen; wherein the scene interface includes a simulated traffic environment; the simulated traffic environment includes a simulated test vehicle and a plurality of simulated objects; the host computer includes the scene simulation software and the test execution and management software; The test execution and management software is used to respond to the control instructions issued by the real driver operating the driving simulator according to the simulated traffic environment, send corresponding control signals to the scenario simulation software, so that the scenario simulation software controls the driving of the simulated test vehicle based on the control signals; in the process of controlling the driving of the simulated test vehicle, send the real-time position information of the simulated test vehicle in the simulated traffic environment and the real-time position information of each simulated object to the tested object; The device under test is used to determine whether the simulated test vehicle meets the V2X warning function according to the real-time position test information of the simulated test vehicle and each of the simulated objects; if the simulated test vehicle meets the V2X function test, trigger the corresponding V2X warning function.

8. The system according to claim 7, characterized in that The test execution and management software that responds to the control instruction issued by the real driver operating the driving simulator according to the simulated traffic environment, sends a corresponding control signal to the scenario simulation software, so that the scenario simulation software controls the driving of the simulated test vehicle based on the control signal, is specifically used for: When it is detected that a real driver operates the driving simulator according to the simulated traffic environment and issues a control instruction, the test execution and management software converts the relevant signal carried by the control instruction into a corresponding control signal, and forwards the control signal to the scene simulation software; the scene simulation software controls the simulated test vehicle to execute the driving operation corresponding to the control instruction according to the control signal, so as to control the driving of the simulated test vehicle.

9. The system according to claim 7, characterized in that The driver-in-the-loop based V2X functional test system also includes a GNSS simulator; in the process of controlling the driving of the simulated test vehicle, the real-time position information of the simulated test vehicle in the simulated traffic environment and the real-time position information of each simulated object are sent to the test execution and management software of the DUT, specifically used for: In the process of controlling the driving of the simulation test vehicle, real-time detection of the real-time position information of the simulation test vehicle in the simulation traffic environment and the real-time position information of each simulation object; The real-time position information of the simulated test vehicle is sent to the GNSS simulator, so that the GNSS simulator converts the real-time position information of the simulated test vehicle into GNSS data in radio frequency form, and sends the GNSS data to the device under test; the real-time position information of each simulated object is packaged into a corresponding V2X message, and the V2X message is sent to the device under test.

10. The system according to claim 9, characterized in that According to the real-time position test information of the simulated test vehicle and each of the simulated objects, it is determined whether the simulated test vehicle meets the requirements of the V2X warning function. Specifically, it is used to: Parsing the GNSS data and the V2X message to obtain real-time position test information of the simulation test vehicle and each of the simulation objects; According to the real-time position test information of the simulated test vehicle and each of the simulated objects, the distance between the simulated test vehicle and each of the simulated objects is calculated; it is determined whether there is a situation where the distance between the simulated test vehicle and any of the simulated objects is less than a preset V2X warning function distance; if there is a situation where the distance between the simulated test vehicle and any of the simulated objects is less than the V2X warning function distance, it is determined that the simulated test vehicle meets the V2X warning function; if there is no situation where the distance between the simulated test vehicle and any of the simulated objects is less than the V2X warning function distance, it is determined that the simulated test vehicle does not meet the V2X warning function.

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