Integrated navigation function-oriented test method and related equipment

Abstract

The invention discloses a combined navigation function oriented test method and related equipment, and relates to the technical field of combined navigation equipment test.The method comprises the steps that under the condition that it is detected that the combined navigation equipment is powered on, a test instruction is written into the combined navigation equipment to obtain Ethernet data and CAN data, the test instruction comprises a test instruction corresponding to each sub-device in the combined navigation device; sending a plurality of test instructions to the integrated navigation device based on a preset sequence, the test instructions being used for instructing the integrated navigation device to perform data acquisition to obtain target data; and generating a test report based on the Ethernet data, the CAN data and the target data.

Description

Technical Field

[0001] The present application relates to the technical field of combined navigation equipment testing, and in particular to a testing method and related equipment for combined navigation functions. Background Art

[0002] At present, with the rapid development of intelligent driving technology, integrated navigation systems play a vital role in intelligent driving. Integrated navigation systems are usually composed of global navigation satellite system (GNSS) modules, inertial measurement units (IMU) and other related modules, which can provide key information such as accurate position and posture for intelligent driving vehicles. During the intelligent driving road test stage, functional failures may occur due to various complex environmental factors and system uncertainties.

[0003] However, when the integrated navigation system has a functional failure, it is difficult to capture data comprehensively and accurately, and the troubleshooting process becomes extremely difficult and time-consuming. Engineers need to spend a lot of manpower and time to try to reproduce the problem in order to find the cause of the failure, which not only reduces the test efficiency, but also may delay the improvement and promotion of the intelligent driving system. Therefore, it is necessary to propose a test method for the integrated navigation function to at least solve some of the above problems. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description of the Invention section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In a first aspect, an embodiment of the present application provides a testing method for a combined navigation function, the method comprising:

[0006] When it is detected that the integrated navigation device is powered on, a test instruction is written into the integrated navigation device to obtain Ethernet data and CAN data, wherein the test instruction includes test instructions corresponding to each sub-device in the integrated navigation device;

[0007] Sending a plurality of test instructions to the integrated navigation device based on a preset sequence, wherein the test instructions are used to instruct the integrated navigation device to collect data to obtain target data;

[0008] A test report is generated based on the Ethernet data, the CAN data and the target data.

[0009] In one embodiment of the present invention, the step of writing a test instruction into the integrated navigation device to acquire Ethernet data and CAN data when detecting that the integrated navigation device is powered on comprises:

[0010] When it is detected that the integrated navigation device is powered on, the operating status of the vehicle's high-level intelligent driving function is obtained;

[0011] When the operating state is in the startup state, Ethernet data and CAN data are acquired.

[0012] In one embodiment of the present invention, the integrated navigation device includes a GNSS module, an IMU module, an Ethernet communication module and a CANFD communication module; the test instructions include a GNSS module test instruction, an IMU module test instruction, an Ethernet communication test instruction and a CANFD communication test instruction;

[0013] The step of sending a plurality of test instructions to the integrated navigation device based on a preset sequence comprises:

[0014] Sending the GNSS module test instruction to the GNSS module;

[0015] When the GNSS module receives the GNSS module test instruction, sending the IMU module test instruction to the IMU module;

[0016] When the IMU module receives the IMU module test instruction, sending the Ethernet communication test instruction to the Ethernet communication module;

[0017] When the Ethernet communication module receives the Ethernet communication test instruction, the CAN FD communication test instruction is sent to the CAN FD communication module.

[0018] In one embodiment of the present invention, the test instruction is used to instruct the integrated navigation device to collect data, and the step of obtaining target data includes:

[0019] Control the corresponding multiple processes and multiple threads to collect data according to the test instructions to obtain multiple initial data;

[0020] The multiple initial data are processed and fused to obtain the target data.

[0021] In one embodiment of the present invention, the test report includes: test results corresponding to the GNSS antenna mainboard, test results corresponding to the IMU module, test results corresponding to Ethernet communication, test results corresponding to CANFD communication, and test results corresponding to the internal power supply voltage;

[0022] The test results corresponding to the GNSS antenna mainboard are used to reflect the signal reception strength and positioning accuracy;

[0023] The test results corresponding to the IMU module are used to reflect the measurement accuracy of the vehicle posture information;

[0024] The test results corresponding to the Ethernet communication are used to reflect the connection status, data transmission rate and reliability of the Ethernet communication;

[0025] The test results corresponding to the CANFD communication are used to reflect the data transmission speed, data transmission stability and data transmission error rate;

[0026] The test result corresponding to the internal power supply voltage is used to reflect whether the internal power supply voltage of the integrated navigation device is within a normal range.

[0027] In one embodiment of the present invention, the step after generating the test report based on the Ethernet data, the CAN data and the target data further includes:

[0028] Obtaining private CAN messages between the integrated navigation device and the driving domain controller;

[0029] Acquire multiple inspection item information based on the private CAN message;

[0030] If any of the inspection items fails, the cause of the problem is obtained;

[0031] The cause of the problem is stored in the test report at preset intervals.

[0032] In one embodiment of the present invention, the step after generating the test report based on the Ethernet data, the CAN data and the target data further includes:

[0033] The test report is displayed in Excel form based on a visual interface.

[0034] In a second aspect, the present application proposes a test system for combined navigation functions, the system comprising: a data acquisition module, a test module and a report generation module;

[0035] The data acquisition module is configured to: when it is detected that the integrated navigation device is powered on, write a test instruction into the integrated navigation device to acquire Ethernet data and CAN data, wherein the test instruction includes test instructions corresponding to each sub-device in the integrated navigation device;

[0036] The test module is configured to: send a plurality of test instructions to the integrated navigation device based on a preset sequence, wherein the test instructions are used to instruct the integrated navigation device to collect data to obtain target data;

[0037] The report generation module is configured to generate a test report based on the Ethernet data, the CAN data and the target data.

[0038] In a third aspect, an electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is used to implement the steps of a testing method for a combined navigation function as described in any one of the first aspects above when executing the computer program stored in the memory.

[0039] In a fourth aspect, the present application further proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a testing method for a combined navigation function according to any one of the first aspects.

[0040] In summary, a testing method for a combined navigation function in an embodiment of the present application solves the problem that the combined navigation in a whole vehicle environment cannot comprehensively and accurately collect multiple types of data by writing test instructions into a combined navigation device to obtain Ethernet data and CAN data, and sending multiple test instructions to the combined navigation device based on a preset order. It can also provide more targeted data for subsequent analysis and evaluation, thereby achieving the purpose of improving test efficiency and quickly locating problems.

[0041] The testing method for combined navigation function proposed in the present application, and other advantages, objectives and features of the present application will be partially reflected through the following description, and will also be partially understood by technicians in the field through research and practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present specification. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0043] Figure 1 A flow chart of a test method for a combined navigation function provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of the structure of a test system for combined navigation function provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of the structure of a test electronic device for a combined navigation function provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0047] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0048] See also Figure 1 , which is a flow chart of a test method for a combined navigation function provided in an embodiment of the present application, which may specifically include:

[0049] S110, when it is detected that the integrated navigation device is powered on, writing a test instruction into the integrated navigation device to obtain Ethernet data and CAN data, the test instruction including test instructions corresponding to each sub-device in the integrated navigation device;

[0050] Exemplarily, the test device detects that the combined navigation device is powered on (i.e., the combined navigation device is powered on and starts working) through a signal. Once the combined navigation device is detected to be powered on, the test device will write the test instruction into the combined navigation device, thereby starting the admission (recording, collection) of Ethernet data and CAN data. Among them, CAN (Controller Area Network) data is data transmitted in the controller area network. The test instruction is a specific command for detecting and evaluating the combined navigation device. These instructions can trigger each sub-device in the combined navigation device to perform specific operations in order to obtain relevant data to determine whether the performance and function of the device are normal. The combined navigation device is usually composed of multiple sub-devices, such as GNSS (Global Navigation Satellite System) module, IMU (Inertial Measurement Unit) module, Ethernet communication module and CANFD (Controller Area Network Flexible Data Rate) communication module. Each sub-device has its specific functions and performance indicators, and corresponding test instructions need to be sent for different sub-devices.

[0051] S120, sending a plurality of test instructions to the integrated navigation device based on a preset order, wherein the test instructions are used to instruct the integrated navigation device to collect data to obtain target data;

[0052] Exemplarily, multiple test instructions are sent to the integrated navigation device based on a preset order. After the test instructions arrive at the integrated navigation device, each module in the integrated navigation device will be prompted to start data collection. Through the data collection process, the integrated navigation device finally generates target data. These target data are the key results of the test and are used to evaluate the performance, accuracy and reliability of the integrated navigation device. The target data includes various navigation-related data such as position information, speed information, and attitude information.

[0053] S130. Generate a test report based on the Ethernet data, the CAN data and the target data.

[0054] For example, when testing a combined navigation device, a test report will be generated based on Ethernet data, CAN data, and target data. Ethernet data reflects the network communication status of the device, CAN data reflects the information interacting with the vehicle system, and target data includes the latitude and longitude output by the GNSS module, elevation, and vehicle posture information displayed by the IMU module. By collecting, collating, and analyzing these different types of data, the performance of the combined navigation device in terms of network communication, interaction with the vehicle, and navigation function accuracy can be evaluated. The test report finally generated will present in detail the purpose, method, data source, analysis process, and conclusion of the test, providing an important basis for performance evaluation, problem diagnosis, improvement and optimization, and quality control of the equipment.

[0055] In summary, the test method for the combined navigation function proposed in the embodiment of the present application solves the problem that the combined navigation in the whole vehicle environment cannot comprehensively and accurately collect multiple types of data by writing test instructions into the combined navigation device to obtain Ethernet data and CAN data, and sending multiple test instructions to the combined navigation device based on a preset order. It can also provide more targeted data for subsequent analysis and evaluation, thereby achieving the purpose of improving test efficiency and quickly locating problems.

[0056] In some examples, when it is detected that the integrated navigation device is powered on, the step of writing a test instruction into the integrated navigation device to acquire Ethernet data and CAN data includes:

[0057] When it is detected that the integrated navigation device is powered on, the operating status of the vehicle's high-level intelligent driving function is obtained;

[0058] When the operating state is in the startup state, Ethernet data and CAN data are acquired.

[0059] Exemplarily, when it is detected that the combined navigation device is powered on, the operating status of the vehicle's high-order intelligent driving function is obtained, and the collection of Ethernet data and CAN data needs to be in the time period when the vehicle's high-order intelligent driving function is started. This means that Ethernet data and CAN data are collected only when the operating status is in the startup state. The specific implementation method is that when the combined navigation device receives a message indicating that the function is started, the Ethernet data and CAN data collection is activated. This ensures that the collected Ethernet data and CAN data are related to the operation of the vehicle's high-order intelligent driving function, providing more targeted data for subsequent analysis and evaluation.

[0060] In some examples, the integrated navigation device includes a GNSS module, an IMU module, an Ethernet communication module, and a CANFD communication module; the test instructions include a GNSS module test instruction, an IMU module test instruction, an Ethernet communication test instruction, and a CANFD communication test instruction;

[0061] The step of sending a plurality of test instructions to the integrated navigation device based on a preset sequence comprises:

[0062] Sending the GNSS module test instruction to the GNSS module;

[0063] When the GNSS module receives the GNSS module test instruction, sending the IMU module test instruction to the IMU module;

[0064] When the IMU module receives the IMU module test instruction, sending the Ethernet communication test instruction to the Ethernet communication module;

[0065] When the Ethernet communication module receives the Ethernet communication test instruction, the CAN FD communication test instruction is sent to the CAN FD communication module.

[0066] Exemplarily, the combined navigation device includes a GNSS module, an IMU module, an Ethernet communication module and a CANFD communication module, wherein the GNSS module is a Global Navigation Satellite System (GNSS) module, which is used to receive satellite signals and determine the location information of the device, including longitude, latitude and altitude. The IMU module is an Inertial Measurement Unit (IMU) module, which determines the motion state and attitude information of the device by measuring physical quantities such as acceleration and angular velocity, such as the pitch angle, roll angle and heading angle of the vehicle. The Ethernet communication module is responsible for the data communication between the combined navigation device and other devices or systems through Ethernet, which can realize high-speed data transmission and network connection. The CANFD (Controller Area Network Flexible Data-rate) communication module is used to communicate with other electronic control units (ECUs) in the vehicle's internal network to realize data exchange and collaborative work.

[0067] A GNSS module test instruction specifically for the GNSS module in the integrated navigation device is sent to start the test of the GNSS module. When the GNSS module successfully receives the GNSS module test instruction and starts the test, the IMU module test instruction is then sent to the IMU module. The purpose of this is to ensure that the test of the GNSS module will not interfere with the test of the IMU module while it is in progress, and the test can be carried out step by step in a certain order to better locate the problem and analyze the results. After the IMU module successfully receives the IMU module test instruction and starts the test, the Ethernet communication test instruction is sent to the Ethernet communication module. Similarly, this can ensure that the tests of each module are independent of each other to avoid mutual interference, and at the same time, a comprehensive test can be carried out step by step in a preset order. When the Ethernet communication module successfully receives the Ethernet communication test instruction and starts the test, the CANFD communication test instruction is finally sent to the CANFD communication module. By sending test instructions in this order, it can ensure that the various modules of the integrated navigation device are tested systematically and orderly, and the performance and function of the device are comprehensively evaluated.

[0068] In some examples, the test instruction is used to instruct the integrated navigation device to collect data, and the step of obtaining target data includes:

[0069] Control the corresponding multiple processes and multiple threads to collect data according to the test instructions to obtain multiple initial data;

[0070] The multiple initial data are processed and fused to obtain the target data.

[0071] Exemplarily, the integrated navigation device can start multiple processes according to the test instruction, and each process focuses on a specific task to improve the efficiency and parallelism of data collection. For example, one process can be responsible for receiving GNSS satellite signals and parsing position information, and another process can be responsible for reading the data of the IMU sensor and calculating the attitude information. In addition, in the integrated navigation device, multiple threads can also run simultaneously to improve the speed and responsiveness of data collection. For example, one thread can be responsible for reading the data of the GNSS module in real time, another thread can be responsible for processing the data of the IMU module, and another thread can be responsible for sending the collected data to an external device for analysis and storage.

[0072] When the test command reaches the integrated navigation device, the device will start the corresponding process and thread according to the command requirements. These processes and threads will start working at the same time, collecting data from different data sources. The data collected by each process and thread is the initial data. By processing and fusing multiple initial data, the target data is finally obtained. The target data is useful information after processing and fusion, which can be used to evaluate the performance and function of the integrated navigation device.

[0073] In some examples, the test report includes: test results corresponding to the GNSS antenna mainboard, test results corresponding to the IMU module, test results corresponding to Ethernet communication, test results corresponding to CANFD communication, and test results corresponding to the internal power supply voltage;

[0074] The test results corresponding to the GNSS antenna mainboard are used to reflect the signal reception strength and positioning accuracy;

[0075] The test results corresponding to the IMU module are used to reflect the measurement accuracy of the vehicle posture information;

[0076] The test results corresponding to the Ethernet communication are used to reflect the connection status, data transmission rate and reliability of the Ethernet communication;

[0077] The test results corresponding to the CANFD communication are used to reflect the data transmission speed, data transmission stability and data transmission error rate;

[0078] The test result corresponding to the internal power supply voltage is used to reflect whether the internal power supply voltage of the integrated navigation device is within a normal range.

[0079] For example, the test report of the combined navigation device contains test results in many aspects, among which the test results corresponding to the GNSS antenna mainboard reflect the signal reception strength and positioning accuracy, which can evaluate its ability to receive satellite signals and determine the position; the test results of the IMU module reflect the measurement accuracy of the vehicle attitude information, reflecting the accuracy of the vehicle attitude measurement; the test results of Ethernet communication reflect the connection status, data transmission rate and reliability, showing its network connection and data transmission performance; the test results of CANFD communication reflect the data transmission speed, stability and error rate, and measure the data exchange quality of this communication method; the test results of the internal power supply voltage reflect whether the internal power supply voltage of the device is within the normal range to ensure the stable operation of the device. These test results comprehensively evaluate the various performances of the combined navigation device.

[0080] In some examples, the step after generating a test report based on the Ethernet data, the CAN data, and the target data further includes:

[0081] Obtaining private CAN messages between the integrated navigation device and the driving domain controller;

[0082] Acquire multiple inspection item information based on the private CAN message;

[0083] If any of the inspection items fails, the cause of the problem is obtained;

[0084] The cause of the problem is stored in the test report at preset intervals.

[0085] Exemplarily, a private CAN (Controller Area Network) message is obtained between the combined navigation device and the driving domain controller. Private CAN messages usually contain specific information and are used for internal communication and interaction between devices. Multiple inspection item information is obtained based on these private CAN messages. The inspection items can be pre-set indicators for checking the various performances, status, etc. of the combined navigation device and the driving domain controller. If any item information in these inspection items fails the inspection, it is necessary to find out the cause of the problem. The cause of the problem found is stored in the test report at preset time intervals, where the preset time is 1 hour. The purpose of this is to record and update the test report in a timely manner so that the problem can be analyzed and processed later, and it is also to facilitate maintenance personnel to understand the operating status and problems of the equipment so as to take appropriate measures to repair and improve it.

[0086] In some examples, the step after generating a test report based on the Ethernet data, the CAN data, and the target data further includes:

[0087] The test report is displayed in Excel form based on a visual interface.

[0088] For example, a user can use a personal PC to display the above test report in the form of an Excel spreadsheet through a visual interface from the test equipment, and can also display basic information such as satellite signal-to-noise ratio, number of searched satellites, IMU data, etc., and can also compare the results of GNSS positioning and intelligent driving domain control fusion positioning.

[0089] like Figure 2 As shown, this application proposes a test system for combined navigation function, the system comprising: a data acquisition module 21, a test module 22 and a report generation module 23;

[0090] The data acquisition module 21 is configured to: when it is detected that the integrated navigation device is powered on, write a test instruction into the integrated navigation device to acquire Ethernet data and CAN data, wherein the test instruction includes test instructions corresponding to each sub-device in the integrated navigation device;

[0091] The test module 22 is configured to: send a plurality of test instructions to the integrated navigation device based on a preset sequence, wherein the test instructions are used to instruct the integrated navigation device to collect data and obtain target data;

[0092] The report generating module 23 is configured to generate a test report based on the Ethernet data, the CAN data and the target data.

[0093] The effects of the above-mentioned system when applying the above-mentioned method can be found in the description of the above-mentioned method embodiment, which will not be repeated here.

[0094] like Figure 3 As shown, an embodiment of the present application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor, and when the processor 320 executes the computer program 311, the steps of any of the above-mentioned testing methods for the combined navigation function are implemented.

[0095] Since the electronic device introduced in this embodiment is a device adopted by a test device for a combined navigation function in an embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation mode of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the equipment adopted by technical personnel in this field to implement the method in the embodiment of the present application falls within the scope of protection of this application.

[0096] In the specific implementation process, when the computer program 311 is executed by the processor, it can achieve Figure 1 Any implementation manner in the corresponding embodiments.

[0097] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0098] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0099] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0102] An embodiment of the present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of the LDPC decoding method of the solid-state hard disk controller.

[0103] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0104] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0105] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0106] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0109] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0110] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0111] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A testing method for integrated navigation function, characterized in that: The method comprises: When it is detected that the integrated navigation device is powered on, a test instruction is written into the integrated navigation device to obtain Ethernet data and CAN data, wherein the test instruction includes test instructions corresponding to each sub-device in the integrated navigation device; Sending a plurality of test instructions to the integrated navigation device based on a preset sequence, wherein the test instructions are used to instruct the integrated navigation device to collect data to obtain target data; A test report is generated based on the Ethernet data, the CAN data and the target data.

2. A testing method for integrated navigation function according to claim 1, characterized in that: The step of writing a test instruction into the integrated navigation device to acquire Ethernet data and CAN data when detecting that the integrated navigation device is powered on comprises: When it is detected that the integrated navigation device is powered on, the operating status of the vehicle's high-level intelligent driving function is obtained; When the operating state is in the startup state, Ethernet data and CAN data are acquired.

3. The testing method for integrated navigation function according to claim 1, characterized in that: The integrated navigation device includes a GNSS module, an IMU module, an Ethernet communication module and a CANFD communication module; the test instructions include a GNSS module test instruction, an IMU module test instruction, an Ethernet communication test instruction and a CANFD communication test instruction; The step of sending a plurality of test instructions to the integrated navigation device based on a preset sequence comprises: Sending the GNSS module test instruction to the GNSS module; When the GNSS module receives the GNSS module test instruction, sending the IMU module test instruction to the IMU module; When the IMU module receives the IMU module test instruction, sending the Ethernet communication test instruction to the Ethernet communication module; When the Ethernet communication module receives the Ethernet communication test instruction, the CAN FD communication test instruction is sent to the CAN FD communication module.

4. The testing method for integrated navigation function according to claim 1, characterized in that: The test instruction is used to instruct the integrated navigation device to collect data, and the step of obtaining target data includes: Control the corresponding multiple processes and multiple threads to collect data according to the test instructions to obtain multiple initial data; The multiple initial data are processed and fused to obtain the target data.

5. The testing method for integrated navigation function according to claim 1, characterized in that: The test report includes: test results corresponding to the GNSS antenna mainboard, test results corresponding to the IMU module, test results corresponding to the Ethernet communication, test results corresponding to the CANFD communication and test results corresponding to the internal power supply voltage; The test results corresponding to the GNSS antenna mainboard are used to reflect the signal reception strength and positioning accuracy; The test results corresponding to the IMU module are used to reflect the measurement accuracy of the vehicle posture information; The test results corresponding to the Ethernet communication are used to reflect the connection status, data transmission rate and reliability of the Ethernet communication; The test results corresponding to the CANFD communication are used to reflect the data transmission speed, data transmission stability and data transmission error rate; The test result corresponding to the internal power supply voltage is used to reflect whether the internal power supply voltage of the integrated navigation device is within a normal range.

6. The testing method for integrated navigation function according to claim 1, characterized in that: The step after generating the test report based on the Ethernet data, the CAN data and the target data also includes: Obtaining private CAN messages between the integrated navigation device and the driving domain controller; Acquire multiple inspection item information based on the private CAN message; If any of the inspection items fails, the cause of the problem is obtained; The cause of the problem is stored in the test report at preset intervals.

7. A testing method for integrated navigation function according to claim 6, characterized in that: The step after generating the test report based on the Ethernet data, the CAN data and the target data also includes: The test report is displayed in Excel form based on a visual interface.

8. A test system for integrated navigation function, characterized in that: The system comprises: a data acquisition module, a test module and a report generation module; The data acquisition module is configured to: when it is detected that the integrated navigation device is powered on, write a test instruction into the integrated navigation device to acquire Ethernet data and CAN data, wherein the test instruction includes test instructions corresponding to each sub-device in the integrated navigation device; The test module is configured to: send a plurality of test instructions to the integrated navigation device based on a preset sequence, wherein the test instructions are used to instruct the integrated navigation device to collect data to obtain target data; The report generation module is configured to generate a test report based on the Ethernet data, the CAN data and the target data.

9. An electronic device, comprising: A memory and a processor, wherein the processor is used to implement the steps of a testing method for a combined navigation function as described in any one of claims 1 to 7 when executing a computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a testing method for a combined navigation function as claimed in any one of claims 1 to 7 are implemented.

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