Vehicle test system and method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle testing system and method, electronic equipment and a storage medium, and relates to the technical field of intelligent driving, the system comprises a testing upper computer, bus equipment and to-be-tested equipment deployed with system software of an intelligent driving system in a to-be-tested vehicle, and the bus equipment is in communication connection with the to-be-tested equipment through a bus wire harness; the test upper computer determines test data used for testing the to-be-tested vehicle according to the to-be-tested scene, and sends the test data to the to-be-tested equipment; the to-be-tested device operates system software based on the test data to simulate the work of the intelligent driving system, obtains analog output data of the intelligent driving system and sends the analog output data to the bus device through the bus harness, so that the bus device sends the analog output data to the test upper computer; and the test upper computer compares the simulation output data with expected data corresponding to the to-be-tested scene, and obtains a test result for the to-be-tested scene based on a comparison result. According to the technical scheme, the vehicle provided with the intelligent driving system can be tested.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle testing system, method, electronic equipment and storage medium. Background Art

[0002] Before a vehicle equipped with an intelligent driving system is put into use, it is necessary to test the vehicle to ensure driving safety. However, if the vehicle is tested using a real vehicle test method, some test scenarios are difficult to trigger or have a high risk of triggering. This real vehicle test method, on the one hand, is difficult to cover all test scenarios and has low test efficiency; on the other hand, due to the high risk of triggering, the safety risk is relatively high.

[0003] In view of this, it is necessary to provide a simulation test solution to test vehicles equipped with intelligent driving systems. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a vehicle testing system, method, electronic device and storage medium to provide a simulation test solution for testing a vehicle equipped with an intelligent driving system. The specific technical solution is as follows:

[0005] In a first aspect of an embodiment of the present application, a vehicle testing system is provided, the system comprising: a testing host computer, a bus device and a device to be tested, the device to be tested being deployed with system software of an intelligent driving system in a vehicle to be tested, the bus device being communicatively connected with the device to be tested via a bus harness;

[0006] The test host computer is used to determine the test data used to test the vehicle to be tested according to the test scenario, and send the test data to the device to be tested;

[0007] The device to be tested is used to run the system software based on the test data, simulate the operation of the intelligent driving system, obtain simulated output data of the intelligent driving system, and send the simulated output data to the bus device through the bus harness;

[0008] The bus device is used to send the simulated output data to the test host computer;

[0009] The test host computer is further used to compare the simulated output data with expected data corresponding to the scenario to be tested, and obtain a test result for the scenario to be tested based on the comparison result.

[0010] In a second aspect of an embodiment of the present application, a vehicle testing method is provided, which is applied to a test host computer in a vehicle testing system, wherein the vehicle testing system further comprises: a bus device and a device to be tested, wherein the device to be tested is deployed with system software of an intelligent driving system in the vehicle to be tested, and the bus device is connected to the device to be tested via a bus harness;

[0011] The method comprises:

[0012] Determine test data for testing the vehicle to be tested according to the scenario to be tested, and send the test data to the device to be tested;

[0013] Receiving simulated output data fed back by the device under test and sent by a bus device, wherein the simulated output data is: the device under test runs the system software based on the test data to simulate the operation of the intelligent driving system, and the simulated output data of the intelligent driving system is obtained;

[0014] The simulated output data is compared with expected data corresponding to the scenario to be tested, and a test result for the scenario to be tested is obtained based on the comparison result.

[0015] In a third aspect of an embodiment of the present application, a vehicle testing device is provided, which is applied to a test host computer in a vehicle testing system, wherein the vehicle testing system further comprises: a bus device and a device to be tested, wherein the device to be tested is deployed with system software of an intelligent driving system in the vehicle to be tested, and the bus device is connected to the device to be tested via a bus harness;

[0016] The device comprises:

[0017] A sending module, used to determine test data used to test the vehicle to be tested according to the scenario to be tested, and send the test data to the device to be tested;

[0018] a receiving module, configured to receive simulated output data fed back by the device under test and sent by a bus device, wherein the simulated output data is the simulated output data of the intelligent driving system obtained by the device under test running the system software based on the test data to simulate the operation of the intelligent driving system;

[0019] The comparison module is used to compare the simulated output data with the expected data corresponding to the scenario to be tested, and obtain a test result for the scenario to be tested based on the comparison result.

[0020] In a fourth aspect of the embodiments of the present application, an electronic device is provided, including:

[0021] Memory, used to store computer programs;

[0022] The processor is used to implement any vehicle testing method described in the second aspect when executing the program stored in the memory.

[0023] In a fifth aspect of an embodiment of the present application, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the vehicle testing method described in any one of the second aspects is implemented.

[0024] In a sixth aspect of an embodiment of the present application, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the vehicle testing method described in any one of the second aspects above.

[0025] Beneficial effects of the embodiments of the present application:

[0026] In the technical solution provided in the embodiment of the present application, on the one hand, the system software of the intelligent driving system in the vehicle to be tested is run by the device to be tested, and the working condition of the intelligent driving system is simulated for testing, which reduces the test risk compared to testing the actual vehicle to be tested; on the other hand, the test host computer sends test data used for testing the vehicle to be tested for the scenario to be tested to the device to be tested, triggering the device to be tested to output simulated output data to obtain test results, which can solve the problem that some test scenarios are difficult to trigger in actual vehicle testing and improve test efficiency.

[0027] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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 some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0029] Figure 1 A first structural schematic diagram of a vehicle testing system provided in an embodiment of the present application;

[0030] Figure 2 A second structural schematic diagram of a vehicle testing system provided in an embodiment of the present application;

[0031] Figure 3 A third structural schematic diagram of a vehicle testing system provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of the processing flow of different data by the data analysis device provided in an embodiment of the present application;

[0033] Figure 5 A structural diagram of a vehicle test system for applying the vehicle test system provided in an embodiment of the present application to a vehicle test system under a test scenario TS1;

[0034] Figure 6 A signaling interaction diagram for applying the vehicle test system provided in an embodiment of the present application to a test process under the test scenario TS1;

[0035] Figure 7 A comparison chart of the results obtained by using the vehicle testing system provided in an embodiment of the present application to test a vehicle in the test scenario TS1;

[0036] Figure 8 It is a schematic diagram of the switching links of different driving and parking states in the ACC (Adaptive Cruise Control) function state machine in the state management module;

[0037] Fig. 9 A schematic diagram of the switching logic between the test session and other sessions provided in an embodiment of the present application;

[0038] Fig.10 A structural diagram of a vehicle test system for applying the vehicle test system provided in an embodiment of the present application to a vehicle test system under a test scenario TS2;

[0039] Fig.11 A signaling interaction diagram for applying the vehicle test system provided in an embodiment of the present application to a test process under the test scenario TS2;

[0040] Fig.12 A comparison chart of the results obtained by using the vehicle testing system provided in an embodiment of the present application to test a vehicle in the test scenario TS2;

[0041] Fig.13 A schematic diagram of a process flow of a security authentication method provided in an embodiment of the present application;

[0042] Fig.14 A schematic diagram of a flow chart of a security authentication algorithm provided in an embodiment of the present application;

[0043] Fig.15 A schematic diagram of a process flow of a vehicle testing method provided in an embodiment of the present application;

[0044] Fig.16 A schematic diagram of the structure of a vehicle testing device provided in an embodiment of the present application;

[0045] Fig.17 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] 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 based on the present application belong to the scope of protection of the present application.

[0047] Before a vehicle equipped with an intelligent driving system is put into use, it is necessary to test the vehicle to ensure driving safety. However, if the vehicle is tested using a real vehicle test method, some test scenarios are difficult to trigger or have a high risk of triggering. This real vehicle test method, on the one hand, is difficult to cover all test scenarios and has low test efficiency; on the other hand, due to the high risk of triggering, the safety risk is relatively high.

[0048] In view of this, it is necessary to provide a simulation test solution to test vehicles equipped with intelligent driving systems.

[0049] The simulation test solution provided in the embodiment of the present application is implemented based on the following vehicle test system, which is introduced below.

[0050] like Figure 1 As shown, the vehicle testing system provided in the embodiment of the present application includes: a testing host computer 101, a bus device 102 and a device to be tested 103, the device to be tested 103 is deployed with the system software of the intelligent driving system in the vehicle to be tested, and the bus device 102 is communicatively connected with the device to be tested 103 via a bus wiring harness.

[0051] The above-mentioned test host computer 101 can be a computer, a server or a server cluster; the device to be tested 103 can be a driving domain controller deployed with the system software of the intelligent driving system in the vehicle to be tested, that is, an on-board embedded system; the bus harness can be a CAN (Controller Area Network) harness.

[0052] In addition, the test host computer 101 and the bus device 102 may be connected via a USB (Universal Serial Bus) harness.

[0053] The test host computer 101 is used to determine the test data used to test the vehicle to be tested according to the scenario to be tested, and send the test data to the device to be tested.

[0054] The test host computer 101 may be deployed with test host computer software and CANOE (CAN open environment, bus development tool) software. The test host computer software may be used to perform the above steps: determine the test data used to test the vehicle for the test scenario, and send the test data to the device to be tested. The CANOE software is controlled by the test host computer software and relies on the bus transmission capability provided by the bus device to realize the function of transmitting data.

[0055] The scenarios to be tested include: scenarios for testing the parking function of the vehicle to be tested, and scenarios for testing the switching of the parking state of the vehicle to be tested. For different scenarios to be tested, the data types included in the corresponding test data may be different, which will be described in detail later.

[0056] In the scenario of testing the parking function of the vehicle to be tested, the bus device can be used to collect the CAN signal output by the controller and upload the CAN signal changes output by the device to be tested to the test host computer, so that the test host computer can match the CAN signal changes output by the device to be tested with the expected CAN signal changes.

[0057] In the scenario of testing the state machine of the vehicle to be tested, the bus device can be used to receive the stub function commands issued by the test host computer; and to collect CAN signals output by the device to be tested, such as the driving domain controller; and to upload the collected CAN signals to the test host computer so that the test host computer can match the CAN signal changes output by the device to be tested with the expected CAN signal changes.

[0058] The test host computer may first determine the test scenario, such as obtaining the test scenario selected by the tester, or the test scenario currently required to be tested determined according to the preset test program. In a possible implementation, multiple test scenarios that need to be tested may be pre-set in the preset test program, and the test process of executing each test scenario may be triggered in sequence in the test host computer.

[0059] After determining the scenario to be tested, the test host computer may determine the test data corresponding to the scenario to be tested from the pre-stored test data corresponding to each test scenario, and send the determined test data to the device to be tested through the bus harness.

[0060] The device to be tested 103 is used to run the system software based on the test data, simulate the operation of the intelligent driving system, obtain the simulated output data of the intelligent driving system, and send the simulated output data to the bus device through the bus harness.

[0061] The system software deployed in the device to be tested 103 may include: an algorithm implementation module, a state management module, and a user interaction module. The algorithm implementation module is a software implementation of autonomous driving algorithms such as perception, planning, and decision-making; the state management module is used to receive function trigger signals, vehicle body signals such as vehicle speed, four doors and two covers, software and hardware fault signals, etc., and trigger the function software to rotate the state after processing the above signals. The states managed by the above state management module include: Active (activated state), Inhibit (disabled state), Standby (available state), Exit (exit state), etc. The user interaction module can be used to detect the user's operation and control the vehicle's parking state according to the user's operation.

[0062] Simulated output data representation: The system software simulates the changes in the vehicle output by the intelligent driving system under the test scenario. Depending on the test scenario, the type of simulated output data is also different, which will be explained in detail later.

[0063] The device under test can input test data into the system software and run the system software to obtain the simulated output data output by the system software. Then the device under test sends the simulated output data to the bus device through the bus harness, and the bus device can receive the simulated output data sent by the device under test.

[0064] The bus device 102 is used to send the simulated output data to the test host computer.

[0065] After the bus device receives the analog output data sent by the device to be tested, it can send the analog output data to the test host computer.

[0066] The test host computer 101 is also used to compare the simulated output data with the expected data corresponding to the scenario to be tested, and obtain the test result for the scenario to be tested based on the comparison result.

[0067] The test host computer can compare the simulated output data with the expected data to see if they are the same. If they are the same, it means that the intelligent driving system of the vehicle to be tested works as expected in the test scenario, and the vehicle to be tested passes the test for the test scenario; if they are different, it means that the intelligent driving system of the vehicle to be tested does not work as expected in the test scenario, and the vehicle to be tested fails the test for the test scenario.

[0068] In the technical solution provided in the embodiment of the present application, on the one hand, the system software of the intelligent driving system in the vehicle to be tested is run by the device to be tested, and the working condition of the intelligent driving system is simulated for testing, which reduces the test risk compared to testing the actual vehicle to be tested; on the other hand, the test host computer sends test data used for testing the vehicle to be tested for the scenario to be tested to the device to be tested, triggering the device to be tested to output simulated output data to obtain test results, which can solve the problem that some test scenarios are difficult to trigger in actual vehicle testing and improve test efficiency.

[0069] The above vehicle testing system can be used to test the parking function and the parking state switching function of the vehicle to be tested.

[0070] The following first introduces how to use the above-mentioned vehicle testing system to test the parking function of the vehicle to be tested.

[0071] That is, the scenario to be tested is a scenario for testing the parking function of the vehicle to be tested. In this scenario, the simulated output data includes: vehicle control signals and / or alarm signals. The above vehicle testing system may also include: a data analysis device 104, which is connected to the device to be tested 103 through various types of buses, such as Figure 2 shown.

[0072] In this scenario, the test host computer 101 can be specifically used to determine the environmental data of the environment in which the vehicle to be tested is located and the vehicle data of the vehicle to be tested in the test scenario for testing the parking function from the pre-collected test samples in a set format, and send the environmental data and vehicle data to the data analysis device. The environmental data and the vehicle data have the same timestamp. The test host computer 101 and the data analysis device 104 can be connected via a bus, such as an ETH (ETHernet, Ethernet) bus.

[0073] The test host computer can pre-store scene sample data in a private format corresponding to each scene to be tested, that is, test samples, which are collected by sensors carried by the vehicle. The test samples collected by the sensor have a set format, such as the video samples collected by the camera can be in MP4 format.

[0074] In a possible implementation, Figure 3 As shown, the test host computer 101 can also be connected to a storage device 105 to store the above scene sample data. The above storage device 105 can be a hard disk or other device with storage function. This can avoid storing all vehicle test related data in the test host computer, reducing the storage pressure of the test host computer.

[0075] The test host computer can determine the environmental data of the environment of the vehicle to be tested in the test scene and the vehicle data of the vehicle to be tested from the test sample, and send them to the data analysis device. The data analysis device can receive the above environmental data and vehicle data. In order to ensure that the timing of the environmental data and the vehicle data can still match each other after sending, the test host computer can timestamp the environmental data and the vehicle data according to the collection time.

[0076] The data analysis device 104 is used to analyze the data sent by the test host computer to obtain analysis data that conforms to the specified format of the vehicle to be tested. For each type of analysis data, the analysis data is sent to the device to be tested via a target bus among multiple types of buses, wherein the type of the target bus corresponds to the type of the analysis data.

[0077] After receiving the environmental data and vehicle data sent by the test host computer, the data analysis device can analyze each type of data received according to the data format specified by the vehicle to be tested, and convert it into analysis data that conforms to the format specified by the vehicle to be tested.

[0078] After the data analysis device obtains a type of analysis data through analysis, it can determine the target bus corresponding to the type of analysis data, and send the type of analysis data to the device under test through the target bus.

[0079] In this way, the data analysis device parses the collected scene sample data into analysis data that conforms to the specified format of the vehicle to be tested, replacing the actual sensor data. It can be compatible with different CAN matrix signals and different radar interaction protocols of different vehicles to be tested. For example, it can be compatible with different CAN matrix signals and different radar interaction protocols of vehicles to be tested from different car manufacturers. A set of scene sample data can be used to test multiple vehicles to be tested, without the need to collect data in the specified format for different vehicles to be tested, thereby reducing the cost of data collection.

[0080] In one possible implementation, the environmental data may include: video data and radar data; various types of buses include: LVDS (Low Voltage Differential Signaling) bus, SPI (Serial Peripheral Interface) bus and CAN (Controller Area Network) bus; and vehicle data includes: data transmitted through the CAN bus when the actual vehicle is running.

[0081] The data analysis device 104 can be specifically used to perform decapsulation processing, decoding processing and serialization processing on the video data in sequence, generate image data that conforms to the specified format of the vehicle to be tested, and send the image data corresponding to each camera to the interface of each camera configured on the vehicle to be tested in the device to be tested through the LVDS bus; based on the data protocol corresponding to the radar configured on the vehicle to be tested, convert the radar data into SPI messages, and send the SPI messages to the device to be tested through the SPI bus; based on the CAN matrices corresponding to various types of data in the vehicle data, convert different types of data in the vehicle data into CAN messages, and send the CAN messages to the device to be tested through the CAN bus.

[0082] Specifically, Figure 4 In an example shown, the data analysis device processes the received video data in MP4 format, vehicle data, and USS (Ultrasonic Sensor System) data respectively which carry timestamps.

[0083] For video data, the data analysis device first decapsulates the MP4 video data to obtain the H264 code stream, and then uses the hardware decoder to decode it to obtain the image frame; then serializes it to obtain the image data that conforms to the format specified by the vehicle to be tested; and sends the converted image data to the LVDS bus through the LVDS transceiver (not shown in the figure), and sends the image data corresponding to each camera to the interface of each camera configured in the device to be tested, such as Figure 4 The forward view interface, surround view interface, etc. The surround view interface includes: left interface, right interface, front interface and rear interface.

[0084] For vehicle data, such as vehicle speed, status of four doors and two lids, accelerator pedal status, brake pedal status and other body data as well as user interaction signals such as ACC function activation status, ACC speed value, ACC time interval value, the data analysis device deserializes and restores different types of data defined by the private structure (also called internal definition structure) in the vehicle data into CAN messages, also called CAN signals, based on the CAN matrix corresponding to each type of data in the vehicle data, and sends the restored CAN messages to the CAN bus through the CAN port through the CAN transceiver, and sends the converted CAN messages to the device under test through the CAN bus.

[0085] For radar data, such as the transmission frequency, transmission frequency deviation, ranging value, echo width, etc. of each radar, the data analysis device restores the USS data defined by the private structure (also called the internally defined structure) into protocolized SPI message data, also called SPI signal, based on the data protocol corresponding to the radar chip configured on the vehicle to be tested, such as the AK2 Sensor DSI3 (ultrasonic radar sensor distributed system) communication protocol, and sends the restored SPI message to the SPI bus through the SPI port through the SPI transceiver, and sends the converted SPI message to the device to be tested through the SPI bus.

[0086] In this way, the data analysis device analyzes the collected scene sample data into analysis data that conforms to the specified format of the vehicle to be tested according to different analysis methods, thereby improving the accuracy of the analysis data obtained after analysis.

[0087] In order to more clearly illustrate the test process of testing the parking function of the vehicle to be tested, the embodiment of the present application also provides a test example, such as Figure 5 The test system structure diagram in this example is shown in Figure 6 The signaling interaction diagram of the test process in this example is shown.

[0088] Figure 5 and Figure 6 The example shown is to perform a parking function test of the vehicle to be tested for the test scenario TS1.

[0089] Under TS1, at t0, the vehicle is in adaptive cruise control at a cruising speed of 90km / h and a headway value of 3 set by the user; at t1, there are other vehicles traveling at a speed of 45km / h within the detectable distance in front of the lane in which the vehicle is traveling; at t2, the parking function software running in the test equipment triggers the vehicle to start decelerating, and at t3, after reducing the vehicle speed to 45km / h, it continues to follow the vehicle in front at a headway value of 3.

[0090] Figure 5 In the test host computer H1, a hard disk H2, that is, the above-mentioned storage device 105, is connected. The hard disk H2 stores scene sample data corresponding to each scene to be tested. The bus device H3 is connected to the test host computer through the USB bus harness H10; the data analysis device H4 is connected to the test host computer through the ETH bus harness H6, and the data analysis device is connected to the device to be tested H5 through the LVDS bus harness H9, the CAN bus harness H7, and the SPI bus harness H8.

[0091] The device under test runs the parking function software of the vehicle under test, that is, the system software. The expected input of the system software is the image data, radar data, and vehicle data parsed by the data parsing device from the scene sample data, that is, from the test sample. The expected output is the body control signal and warning signal output by the device under test based on the input data and the built-in functional logic.

[0092] like Figure 5 As shown, the parking function software includes: ALG (ALGorithm, algorithm) multi-core communication management units such as perception, planning, decision-making, posture estimation, sensor data access and pre-processing. The parking function software also includes APP ALG (APPlication ALGorithm, application algorithm) driving interaction units such as user interaction module, parking algorithm state machine and CAN signal transceiver module. These units constitute the parking function software to realize the vehicle's parking function.

[0093] Figure 6 In the test, the tester selects the scene to be tested as TS1 through the test host computer H1. The test host computer obtains the scene to be tested TS1 selected by the tester, and then determines the scene sample data used to test the vehicle to be tested for TS1, that is, the test sample, and then sends the above scene sample data corresponding to TS1 to the data analysis device H4.

[0094] The test host computer will use the vehicle data, environmental data and other test data related to the scenario that represents the vehicle to be tested is in "at t0, the vehicle is adaptively cruising at a user-set cruising speed of 90km / h and a time distance value of 3, and at t1, there is a vehicle traveling at a speed of 45km / h within the detectable distance in front of the vehicle in the lane" as a test sample, and send the test sample to the data analysis device.

[0095] The subsequent test is to determine whether the simulated output data output by the device under test represents that: at time t2, the parking function software running in the device under test triggers the vehicle to start decelerating, and after reducing the speed to 45 km / h at time t3, it continues to follow the vehicle at a time distance value of 3.

[0096] After receiving the scene sample data sent by the test host computer, the data analysis device can return a successful reception message to the test host computer.

[0097] After the data analysis device parses, deserializes, and repackages the video data, radar data, and vehicle data in the received scene sample data, it obtains image data, radar data, and vehicle data that conform to the specified format of the vehicle to be tested and sends them to the device to be tested H5 through the LVDS bus, SPI bus, and CAN bus respectively to start the test.

[0098] The device under test runs the system software based on the data sent by the received data analysis device, that is, runs the data processing, algorithm operation and other modules in the system software, simulates the operation of the intelligent driving system, and obtains the simulated output data CAN signal of the intelligent driving system. The CAN signal output under TS1 includes: deceleration request status signal, deceleration request value, and the distance between the target vehicle in front and the vehicle in the X direction (the driving direction of the vehicle). Then the CAN signal is sent to the bus device through the bus harness.

[0099] The bus device then sends the CAN signal sent by the above-mentioned device to be tested to the test host computer, which compares the change of the CAN signal output by the above-mentioned device to be tested with the expected CAN signal change corresponding to TS1, and obtains the test result for the scenario to be tested based on the comparison result.

[0100] Specifically, as follows Figure 7 As shown in the figure, the solid line represents the CAN signals such as the deceleration state, deceleration request value, and the X-direction distance m of the front vehicle output by the system software in the device under test, that is, the actual value obtained by the test, and the dotted line represents the CAN signal expected to be output by the device under test, that is, the expected value of the test. The test host computer can directly convert the above Figure 7 The comparison chart shown is displayed on the display interface as a test result. The deviation value can also be calculated based on the CAN signal actually output by the above-mentioned device to be tested and the expected CAN signal, and the deviation value is displayed on the display interface as a test result.

[0101] The above describes the test process for testing the parking function of the vehicle to be tested. The following describes the test process for switching the parking state of the vehicle to be tested.

[0102] Before introducing the test process of switching the driving and parking states of the vehicle to be tested, the driving and parking states of the vehicle are first introduced.

[0103] Take the ACC function state machine in the state management module as an example. Figure 8 As shown in Figure 1, the functional status of ACC is divided into four main states: Active, Standby, Inhibit, and Exit. The switching links between the main states are as follows: Figure 8 The main state Active is divided into four sub-states: ActiveInner (activation), StandActive (vehicle is stationary and the system on board remains active), Override (driver control is given priority), and Standwait (standby). The switching links between each sub-state are as follows: Figure 8 As shown in 7~10.

[0104] The following introduces how to use the above vehicle testing system to test switching between the driving and parking states of the vehicle to be tested.

[0105] That is, the scenario to be tested is a scenario for testing the switching of the driving and parking states of the vehicle to be tested, and the simulation output data includes: the simulated driving and parking states.

[0106] In this scenario, the test host computer 101 can be specifically used to determine the first configuration data used for switching the parking state test of the vehicle to be tested from the pre-generated test samples, and send the first configuration data to the bus device.

[0107] The first configuration data is object state data used to make the parking state of the vehicle to be tested be in a first state, and the object state data includes data describing the vehicle state and / or data describing the object state in the environment.

[0108] The scenario to be tested switches the vehicle to be tested from the first state to the second state in the scenario to be tested, that is, the first state is the initial parking state that the vehicle to be tested should be in in the scenario to be tested. The test host computer can send first configuration data to the device to be tested through the bus device, so that the parking state of the vehicle to be tested is in the first state.

[0109] The test host computer may store pre-generated test samples for different test scenarios. When the vehicle to be tested needs to be tested for the test scenario, the test host computer may determine the test sample corresponding to the test scenario, and determine the object state data in the test sample that makes the parking state of the vehicle to be tested in the first state as the first configuration data. Then the test host computer sends the first configuration data to the bus device, and the bus device receives the first configuration data sent by the test host computer.

[0110] The bus device 102 may also be used to send first configuration data to the device under test.

[0111] After receiving the first configuration data, the bus device may send the first configuration data to the device to be tested.

[0112] The device to be tested 103 can be specifically used to run the system software based on the first configuration data to simulate the parking state of the vehicle to be tested in the working configuration of the intelligent driving system.

[0113] The device to be tested can run the state management module in the system software based on the first configuration data, simulate the operation of the intelligent driving system, and configure the driving state of the vehicle to be tested.

[0114] After waiting for a period of time, you can continue to test whether the device to be tested can switch to the second state normally.

[0115] The test host computer 101 can be specifically used to determine the second configuration data used for switching the parking state test of the vehicle to be tested from the test sample according to the test process, and send the second configuration data to the bus device, wherein the second configuration data is: data describing the state of the object in the environment used to switch the parking state of the vehicle to be tested from the first state to the second state.

[0116] The test host computer can determine the data describing the state of the object in the environment in the test sample that causes the parking state of the vehicle to be tested to switch from the first state to the second state as the second configuration data. Then the test host computer sends the second configuration data to the bus device, and the bus device receives the second configuration data sent by the test host computer.

[0117] The bus device 102 is further configured to send second configuration data to the device under test.

[0118] After receiving the second configuration data, the bus device may send the second configuration data to the device to be tested.

[0119] The device to be tested 103 is specifically used to run the system software based on the second configuration data, simulate the driving and parking state of the vehicle to be tested in the working configuration of the intelligent driving system, and send the simulated driving and parking state to the bus device.

[0120] The device to be tested can run the state management module in the system software based on the second configuration data, simulate the operation of the intelligent driving system, configure the driving state of the vehicle to be tested, and send the simulated driving state to the bus device.

[0121] Afterwards, the device to be tested may compare the simulated mooring state with the expected second state, and obtain a test result for the scenario to be tested based on the comparison result.

[0122] In this way, using pre-generated test samples for different test scenarios to test the test vehicle can solve the problem that some test scenarios are difficult to trigger in actual vehicle testing, thereby improving test efficiency.

[0123] In a possible implementation manner, the mode of the pile function injection can also be adopted to send the second configuration data to the device to be tested. Test host computer 101, specifically can be used for sending the pile function command to the device to be tested through bus equipment. Wherein, the pile of the pile function command is the second configuration data.

[0124] Pile function is for replacing the function of algorithm realization module, when testing for the parking state switching of vehicle to be tested, the output of pre-stage algorithm realization module can be replaced by pile function, directly inject the algorithm notification of algorithm realization module output under the scene to be tested of pile function simulation to the state interaction module.That is to say, using the pile of the second configuration data as the pile of pile function command, the pile function command obtained can simulate the algorithm notification of algorithm realization module output based on the second configuration data.

[0125] In this way, it is possible to avoid the running state of the algorithm implementation module affecting the test of the driving and parking state switching of the state interaction module in the system software of the vehicle to be tested, thereby improving the test efficiency.

[0126] In a possible implementation manner, in order to enable the device to be tested to successfully identify the pile function command, the sending of the above-mentioned pile function command can be carried out according to the format specified by UDS (Unified diagnostic services, universal diagnostic protocol). Test host computer 101, specifically can be used for sending the test command based on UDS protocol to the device to be tested by bus equipment, wherein, in the test command, the first preset position is configured with a routine control service identifier, in the test command, the second preset position is configured with a routine identifier for executing the test command, and in the test command, the third preset position is configured with a pile function command. In addition, other positions can also be configured with a routine control type in the test command.

[0127] An example of a test command is shown in Table 1 below. In Table 1, the test command includes 4 fields, namely SID (routine control service identification field), CtrlType (routine control type field), RID (routine identification field for executing test commands), and Request Cmd (stub function command field). The first preset position in the test command is the first byte, which is configured with the routine control service identification; the second preset position in the test command is the 3rd-4th bytes, which are configured with the identification of the routine for executing the test command; the third preset position in the test command is the 5th to nth bytes, which are configured with the stub function command; other positions such as the 2nd byte are configured with the routine control type.

[0128] Table 1

[0129]

[0130] Above-mentioned 0x31 is the special routine control service mark of bench test, and the effect of the routine control service identified by 0x31 is to carry out the specified sequence of steps and obtain execution result by routine control.0x01 is the mark corresponding to routine control type, and 0xA000 is the special routine mark for carrying out test command of bench test.Being concrete pile function command from the 5th byte, pile function command can generate according to the format specified by field meaning in table 1.

[0131] In addition, the length upper limit of the stub function command may be limited to prevent an excessively long stub function command from causing the device to be tested to simulate the configuration running state at a slow speed according to the stub function command, thereby affecting the test efficiency.

[0132] The device to be tested 103 can be specifically used to receive a test command; according to a universal diagnostic protocol, the data at a first preset position in the test command is parsed; if a routine control service identifier is obtained through the parsing, the data at a second preset position in the test command is parsed to obtain an identifier of a routine for executing the test command, and the data at a third preset position in the test command is parsed to obtain a pile function command; the routine indicated by the obtained identifier is called to run the system software with the pile of the pile function command as the second configuration data.

[0133] For example, the preset routine control service identifier can be 0x31. After the device to be tested receives the test command sent by the test host computer through the bus device, the data of the first preset position in the test command can be parsed according to the general diagnostic protocol. If the device to be tested obtains the above-mentioned preset routine control service identifier 0x31 from the first preset position, indicating that the test command indicates that the device to be tested performs routine control, the device to be tested can further parse the data of the second preset position in the test command to obtain the identifier of the routine for executing the test command, such as the above-mentioned 0xA000; and the data of the third preset position in the test command are parsed to obtain the pile function command. And then the device to be tested calls the routine indicated by the above-mentioned routine identifier 0xA00 obtained again with the pile of the pile function command as the second configuration data operation system software.

[0134] Since the UDS protocol is highly versatile in testing vehicles, the UDS protocol is used as the framework protocol for the vehicle testing process provided in the embodiment of the present application, and the vehicle to be tested is tested on this basis. The entire testing process can better match the vehicle to be tested, thereby further improving the testing efficiency.

[0135] In a possible implementation, a test session may be created separately for the vehicle test process provided in the embodiment of the present application. The test host computer 101 may be used to create a test session with the device to be tested through the bus device based on a preset test session identifier, and send a test command based on the UDS protocol to the device to be tested through the test session.

[0136] In the UDS protocol, the common sessions for various car manufacturers are the default session, the extended session, and the programming session, such as the sessions numbered 1, 2, and 3 in Table 2 below. The above three sessions correspond to session identifiers 0x01, 0x02, and 0x03, respectively. In the vehicle test process provided in the embodiment of the present application, the test host computer separately creates a test session between the bus device and the device to be tested, and sends a test command based on the UDS protocol to the device to be tested through the bus device based on the created test session. A separate session identifier can be assigned to the above test session, such as 0x10 in Table 2.

[0137] Table 2

[0138]

[0139] The device to be tested 103 may be specifically configured to obtain an identifier of a session for transmitting the received data, and if the obtained identifier is a test session identifier, determine a test command from the received data.

[0140] After the device under test receives the data sent by the test host computer through the bus device, it can first obtain the identifier of the session that transmitted the received data. If the obtained identifier is a test session identifier, such as 0x10 above, it means that the test host computer sent a test command to the device under test through the test session, and the device under test can determine the test command from the received data.

[0141] In this way, the diagnostic function of diagnosing the vehicle to be tested through other sessions can be independent of each other, avoiding interference with other diagnostic services, thereby further improving the test efficiency.

[0142] In a possible implementation, the switching between the above-mentioned test session and other sessions can also be restricted. The device to be tested 103 can be used to receive a session switching request, and if the session switching request is a request to switch between the test session and the default session, respond to the session switching request, and if the session switching request is a request to switch between the test session and other sessions other than the default session, refuse to respond to the session switching request. Specifically, the device to be tested can include a bus interaction module, and the bus interaction module is used to implement the above-mentioned steps of receiving, responding to, or rejecting the session switching request.

[0143] That is to say, Fig. 9 As shown, the test session is only allowed to be switched in from the default session and is also only allowed to be switched out to the default session. The switching logic between other sessions defined by the vehicle manufacturer corresponding to the vehicle to be tested is not modified or defined.

[0144] In this way, it can be further distinguished from other diagnostic services to avoid mutual interference with other diagnostic services, thereby further improving the test efficiency.

[0145] In order to more clearly illustrate the above test process for testing the switching of the parking state of the vehicle to be tested, the embodiment of the present application also provides a test example, such as Fig.10 The test system structure diagram in this example is shown in Fig.11 The signaling interaction diagram of the test process in this example is shown.

[0146] Fig.10 and Fig.11 The examples shown are for Figure 8 Specifically, a driving and parking state switching test of the vehicle to be tested is performed for the test scenario TS2.

[0147] Under TS2, at time t0, the vehicle adaptively cruises at a user-set cruising speed of 30km / h and a headway value of 3, at which time the ACC function is in the ActiveInner state; at time t1, another vehicle encounters a red light within the detectable distance in front of the vehicle in the lane where the vehicle is traveling, and the other vehicle brakes and starts waiting for the red light; at time t2, the ACC control algorithm controls the following vehicle to decelerate to 0, and also starts waiting for the red light; 3s later at time t3, the ACC parking algorithm state machine of the vehicle detects that "after following and stopping the vehicle in front, the vehicle remains stationary for 3s", and switches the state from ActiveInner to Standactive; at time t4, the vehicle in front starts, and the driver of the vehicle lightly steps on the accelerator, triggering the ACC state to switch back from Standactive to ActiveInner, and the adaptive cruise function continues to run.

[0148] Fig.10 In the test, the host computer H1 is connected to the bus device H3 through the USB bus harness H10; the bus device is connected to the device to be tested H5 through the ETH bus harness H6 and the CAN bus harness H7. The ETH bus harness is used to send a pile function command to the device to be tested, and the CAN bus is used to send the first configuration data to the device to be tested. And the simulated output data CAN signal sent by the device to be tested is obtained.

[0149] At least the state management module and user interaction module in the system software of the vehicle to be tested are running in the device to be tested. Specifically, the device to be tested includes APPALG driving interaction units such as the user interaction module, the parking algorithm state machine, and the CAN signal transceiver module. The parking algorithm state machine is used to switch the parking state of the vehicle, that is, the parking algorithm state machine is the actual test object for testing the switching of the parking state of the vehicle to be tested.

[0150] Fig.11 In the test, the tester selects the scene to be tested TS2 through the test host computer H1.

[0151] The test host computer obtains the test scenario TS2 selected by the tester, and then determines the first configuration data used to test the test vehicle for TS2 and sends it to the bus device H3, and then the bus device sends it to the test device H5, so that the test vehicle is configured with the first configuration data and the parking state is in the first state, that is, simulating the relevant vehicle body signals under TS2.

[0152] The test host computer can send the first configuration data such as vehicle data indicating that the vehicle to be tested is in "at time t0, the vehicle is adaptively cruising at a user-set cruising speed of 30 km / h and a headway value of 3, and the ACC function is in the ActiveInner state" to the device to be tested, so that the device to be tested simulates the configuration of the parking state of the vehicle to be tested as the ActiveInner state. The first configuration data may include: satisfying the ACC function Enable, enabling the ACC switch, and setting the ACC target speed and headway, etc.

[0153] After the bus device successfully receives the data sent by the test host computer, it can return a message of successful reception to the test host computer.

[0154] The device to be tested simulates and configures the parking state of the vehicle to be tested based on the received first configuration data. If the parking state switching function of the vehicle to be tested is normal, the device to be tested can simulate that the state of the vehicle to be tested is the ActiveInner state.

[0155] After waiting for a period of time, the test host computer is that pile sends pile function command to equipment to be tested by bus equipment with the second configuration data, and above-mentioned pile function also can be called perception algorithm pile function, and the above-mentioned process of sending pile function command also can be called triggering perception algorithm pile function.The pile function command here comprises that there is this algorithm notification of stationary vehicle in the time headway range ahead.Particularly, according to the format defined in table 1, the pile function command of this algorithm notification of stationary vehicle in the time headway range ahead characterization among TS2 can be: HilTest TargetPerceptionNotify p1 [p2 p3 p4 p5 p6 p7]\0.

[0156] Among them, p1 represents the number of targets identified, p2 represents the target identifier, p3 represents the target type, such as cars, trucks, tricycles, cone barrels, etc., p4 represents the angle between the target and the vehicle in the X direction, p5 represents the distance between the target and the vehicle in the X direction, p6 represents the distance between the target and the vehicle in the Y direction (the direction perpendicular to the direction of the vehicle), and p7 represents the speed of the target. When there are multiple targets, there are also multiple groups of parameters p2~p7.

[0157] The device under test receives the stub function command and simulates the parking state of the vehicle under test according to the received stub function command. For TS2, the device under test will switch from the ActiveInner state to the Standactive state after 3 seconds in the expected state.

[0158] The bus device can receive the simulated parking state sent by the device under test, such as the CAN ACC state signal, also called the ACC state signal, and send it to the test host computer. The test host computer can compare the parking state simulated by the device under test with the expected second state Standactive state to detect the change trend of the CAN ACC state simulated by the device under test.

[0159] After this, the test host computer can also modify the accelerator pedal signal to On (open), and send the third configuration data to the device to be tested again through the bus device in the manner of sending the second configuration data as described above. The third configuration data represents: the distance between the front vehicle and the vehicle is greater than the time headway, and the speed is 10km / s. The bus device sends a pile function command to the device to be tested with the third configuration data as the pile. The pile function command here includes the algorithm notification that the front vehicle is outside the time headway range.

[0160] The device under test receives the stub function command and simulates the parking state of the vehicle under test according to the received stub function command. For TS2, the device under test will switch from the Standactive state to the ActiveInner state in the expected state.

[0161] The bus device can receive the simulated driving state sent by the device under test, such as the CAN ACC state signal, and send it to the test host computer. The test host computer can compare the simulated driving state of the device under test with the expected ActiveInner state, and obtain the test result for the scenario under test based on the comparison result, and then return the test result to the tester.

[0162] Specifically, as follows Fig.12 As shown in the figure, the solid line represents the ACC state of the device under test output, and the dotted line represents the ACC state of the device under test output. Fig.12 The comparison chart shown is displayed on the display interface as a test result. The deviation value can also be calculated based on the ACC state actually output by the above-mentioned device to be tested and the expected ACC state, and the deviation value is displayed on the display interface as a test result.

[0163] In one possible implementation, after obtaining the simulated output data, the test host computer can determine whether the vehicle to be tested has passed the test for the scenario to be tested in the following manner: according to a preset sampling period, the simulated output data and the expected data corresponding to the scenario to be tested are sampled respectively to obtain a first sampling value and a second sampling value respectively, and the error statistical characteristic value between the first sampling value and the second sampling value at the same sampling time is calculated; if the error statistical characteristic value is greater than the preset error statistical characteristic value, it is determined that the vehicle to be tested has passed the test for the scenario to be tested; if the error statistical characteristic value is less than or equal to the preset error statistical characteristic value, it is determined that the vehicle to be tested has not passed the test for the scenario to be tested.

[0164] like Figure 7 An example of comparison between simulated output data and expected data is shown. Taking the deceleration request value as an example, the preset sampling period is T, and the expected deceleration request values ​​at time 0 to t3, that is, the second sampling values ​​are: D_Exp1, D_Exp2, ..., D_Expn-1, D_Expn; the actual deceleration request values ​​at time 0 to t3 in the simulated output data, that is, the first sampling values ​​are: D_Actual1, D_Actual 2, ..., D_Actual n-1, D_Actual n. The above-mentioned error statistical characteristic values ​​may include: the maximum value of the deviation between the first sampling value and the second sampling value, and the variance between the first sampling value and the second sampling value. The above-mentioned error statistical characteristic values ​​may also be other error statistical characteristic values, which are only used as examples here and do not play a limiting role.

[0165] The test host computer can calculate the maximum value of the deviation between the first sampling value and the second sampling value: Max[|D_Exp1-D_Actual1|, |D_Exp2- D_Actual2|, ..., |D_Expn-1- D_Actualn-1|, |D_Expn- D_Actualn|], and determine whether the above maximum value is greater than the preset D_Stand1.

[0166] The test host computer can also calculate the variance between the first sampling value and the second sampling value: (D_Exp1- D_Actual1) 2 +(D_Exp2 - D_Actual2) 2 +…+(D_Expn-1- D_Actualn-1) 2 +(D_Expn- D_Actualn) 2 / n, and determine whether the above variance is greater than the preset D_Stand2.

[0167] After obtaining the above two judgment results, the test host computer can determine whether the vehicle to be tested has passed the test for the scene to be tested based on whether any one of them satisfies a statistical characteristic value greater than a preset error, or it can determine whether the vehicle to be tested has passed the test for the scene to be tested based on the above two judgment results.

[0168] Specifically, if the maximum value of the deviation between the first sampling value and the second sampling value is less than D_Stand1, and the variance between the first sampling value and the second sampling value is less than D_Stand1, the test host computer can determine that the vehicle to be tested passes the test for the scenario to be tested.

[0169] By adopting the above method, the error between the simulated output data and the expected data can be determined more accurately by sampling the first sampling value and the second sampling value to calculate the statistical characteristic value of the error between the first sampling value and the second sampling value, thereby obtaining a more accurate vehicle test result and improving the accuracy of the vehicle test.

[0170] In a possible implementation, based on information security considerations, security authentication may be performed before entering a test session to test the vehicle to be tested.

[0171] For example, L3 security authentication can be used, and Fig.13 A security authentication method and Fig.14 A security authentication algorithm in an example is shown.

[0172] Fig.13 In the process, the test host computer first sends a security authentication request to the device to be tested. After receiving the request, the device to be tested generates a four-byte random seed Seed and returns it to the test host computer. After the test host computer calculates the security authentication calculation result value R corresponding to Seed according to the locally stored security authentication algorithm, it sends R to the device to be tested. The device to be tested also calculates the security authentication calculation result value R' based on Seed according to the locally stored security authentication algorithm, compares R with R', and then returns the authentication result to the test host computer. If the device to be tested compares and obtains the same result as the R and R' values, the authentication is successful and subsequent vehicle testing can be carried out; if the comparison obtains the result that the R and R' values ​​are inconsistent, it means that the test host computer does not store the same security authentication algorithm as the one stored in the device to be tested, the authentication fails, and the subsequent vehicle testing process cannot be carried out.

[0173] Fig.14In the test, the host computer or the device to be tested can use the sha256 algorithm to calculate the 32-byte hash value of Seed; take the 1st, 5th, 9th, 13th, 17th, 21st, 25th, and 29th bytes of the 32-byte hash value to form an 8-byte data value; then take the absolute value of the sum of value and the preset constant, and take the lower 32 bytes of the absolute value in case of overflow; then take the 1st, 3rd, 5th, and 6th bytes of the absolute value to form a new 4-byte value as the security authentication calculation result value, that is, R or R'.

[0174] In this way, only when the device to be tested authenticates the test host computer can the subsequent test process be carried out, ensuring the safety of the device to be tested.

[0175] By adopting the vehicle testing system and the corresponding testing process provided in the embodiment of the present application, the parking function and parking state switching logic of the tested vehicle can be tested a priori, and then the actual vehicle test can be started after the defects are converged, which greatly improves the testing efficiency and reduces the testing risk.

[0176] In the above test process, the CAN signal changes output by the device under test can be compared with the expected CAN signal changes to determine whether the vehicle under test has passed the test in the test scenario. For different models, it is only necessary to adjust the CAN signal value and timing to be verified according to the vehicle's CAN matrix without replacing the actuator, which simplifies the test process and further improves the test efficiency.

[0177] Corresponding to the above-mentioned vehicle test system, the embodiment of the present application further provides a vehicle test method, which is applied to a test host computer in the vehicle test system. The above-mentioned vehicle test system also includes: a bus device and a device to be tested, wherein the device to be tested is deployed with system software of the intelligent driving system in the vehicle to be tested, and the bus device and the device to be tested are connected via a bus harness; Fig.15 As shown, the method includes the following steps S1501-S1503.

[0178] Step S1501 : determining test data for testing a vehicle to be tested according to a scenario to be tested, and sending the test data to the device to be tested.

[0179] Step S1502, receiving the simulated output data fed back by the device to be tested and sent by the bus device.

[0180] Among them, the simulated output data is: the device to be tested runs the system software based on the test data to simulate the operation of the intelligent driving system, and obtains the simulated output data of the intelligent driving system.

[0181] Step S1503 , comparing the simulated output data with the expected data corresponding to the scenario to be tested, and obtaining a test result for the scenario to be tested based on the comparison result.

[0182] In the technical solution provided in the embodiment of the present application, on the one hand, the system software of the intelligent driving system in the vehicle to be tested is run by the device to be tested, and the working condition of the intelligent driving system is simulated for testing, which reduces the test risk compared to testing the actual vehicle to be tested; on the other hand, the test host computer sends test data used for testing the vehicle to be tested for the scenario to be tested to the device to be tested, triggering the device to be tested to output simulated output data to obtain test results, which can solve the problem that some test scenarios are difficult to trigger in actual vehicle testing and improve test efficiency.

[0183] In a possible implementation, the scenario to be tested is a scenario for testing the parking function of the vehicle to be tested, and the simulated output data includes: vehicle control signals and / or alarm signals. The above-mentioned vehicle testing system may also include a data analysis device, which is communicatively connected to the device to be tested via multiple types of buses.

[0184] In this scenario, the above-mentioned step S1501 may specifically include: determining, from the pre-collected test samples in a set format, the environmental data of the environment in which the vehicle to be tested is located and the vehicle data of the vehicle to be tested in the test scenario for testing the parking function, and sending the environmental data and the vehicle data to the data analysis device, so that the data analysis device analyzes the data sent by the test host computer to obtain analysis data that conforms to the specified format of the vehicle to be tested, and for each type of analysis data, sending the analysis data to the device to be tested via a target bus among multiple types of buses, wherein the environmental data and the vehicle data have the same timestamp, and the data analysis device is communicatively connected to the device to be tested via multiple types of buses, and the type of the target bus corresponds to the type of the analysis data.

[0185] In a possible implementation manner, the scenario to be tested is a scenario for testing switching between driving and parking states of the vehicle to be tested, and the simulation output data includes: a simulated driving and parking state.

[0186] In this scenario, the above-mentioned step S1501 may specifically include: determining first configuration data for performing a parking state switching test on the vehicle to be tested from pre-generated test samples, sending the first configuration data to the bus device so that the bus device sends the first configuration data to the device to be tested, wherein the first configuration data is: object state data for making the parking state of the vehicle to be tested in a first state, and the object state data includes: data describing the vehicle state and / or data describing the object state in the environment; determining second configuration data for performing a parking state switching test on the vehicle to be tested from the test samples according to the test process, and sending the second configuration data to the device to be tested through the bus device, wherein the second configuration data is: data describing the object state in the environment for making the parking state of the vehicle to be tested switch from the first state to the second state.

[0187] In a possible implementation manner, the step of sending the second configuration data to the device under test through the bus device may include:

[0188] A stub function command is sent to the device under test through the bus device, wherein the stub of the stub function command is the second configuration data.

[0189] In a possible implementation manner, the above-mentioned step of sending a stub function command to the device under test through the bus device may include:

[0190] A test command based on a universal diagnostic protocol is sent to the device to be tested through a bus device, wherein a routine control service identifier is configured at a first preset position in the test command, an identifier of a routine for executing the test command is configured at a second preset position in the test command, and a stub function command is configured at a third preset position in the test command.

[0191] In a possible implementation manner, the step of sending a test command based on a universal diagnostic protocol to the device to be tested through the bus device may include:

[0192] Based on the preset test session identifier, a test session is created between the bus device and the device to be tested, and a test command based on the general diagnostic protocol is sent to the device to be tested through the test session.

[0193] In a possible implementation, the above-mentioned step S1503 may specifically include: sampling the simulated output data and the expected data corresponding to the scenario to be tested respectively according to a preset sampling period, and obtaining a first sampling value and a second sampling value respectively; calculating the error statistical characteristic value between the first sampling value and the second sampling value at the same sampling time; if the error statistical characteristic value is greater than the preset error statistical characteristic value, determining that the vehicle to be tested has passed the test for the scenario to be tested; if the error statistical characteristic value is less than or equal to the preset error statistical characteristic value, determining that the vehicle to be tested has not passed the test for the scenario to be tested.

[0194] Corresponding to the above-mentioned vehicle testing method, the embodiment of the present application further provides a vehicle testing device, which is applied to a test host computer in a vehicle testing system. The above-mentioned vehicle testing system also includes: a bus device and a device to be tested, wherein the device to be tested is deployed with system software of the intelligent driving system in the vehicle to be tested, and the bus device and the device to be tested are connected via a bus harness; Fig.16 As shown, the device comprises:

[0195] The sending module 1601 is used to determine the test data used to test the vehicle to be tested according to the scenario to be tested, and send the test data to the device to be tested.

[0196] The receiving module 1602 is used to receive the analog output data fed back by the device under test sent by the bus device.

[0197] Among them, the simulated output data is: the device to be tested runs the system software based on the test data to simulate the operation of the intelligent driving system, and obtains the simulated output data of the intelligent driving system.

[0198] The comparison module 1603 is used to compare the simulation output data with the expected data corresponding to the scenario to be tested, and obtain the test result for the scenario to be tested based on the comparison result.

[0199] In the technical solution provided in the embodiment of the present application, on the one hand, the system software of the intelligent driving system in the vehicle to be tested is run by the device to be tested, and the working condition of the intelligent driving system is simulated for testing, which reduces the test risk compared to testing the actual vehicle to be tested; on the other hand, the test host computer sends test data used for testing the vehicle to be tested for the scenario to be tested to the device to be tested, triggering the device to be tested to output simulated output data to obtain test results, which can solve the problem that some test scenarios are difficult to trigger in actual vehicle testing and improve test efficiency.

[0200] In a possible implementation, the scenario to be tested is a scenario for testing the parking function of the vehicle to be tested, and the simulated output data includes: vehicle control signals and / or alarm signals. The above-mentioned vehicle testing system may also include a data analysis device, which is communicatively connected to the device to be tested via multiple types of buses.

[0201] In this scenario, the above-mentioned sending module 1601 can be specifically used to: determine the environmental data of the environment in which the vehicle to be tested is located and the vehicle data of the vehicle to be tested in the test scenario for testing the parking function from the pre-collected test samples in a set format, and send the environmental data and the vehicle data to the data analysis device, so that the data analysis device parses the data sent by the test host computer to obtain the analysis data that conforms to the specified format of the vehicle to be tested, and for each type of analysis data, send the analysis data to the device to be tested through a target bus among multiple types of buses, wherein the environmental data and the vehicle data have the same timestamp, and the data analysis device is communicatively connected with the device to be tested through multiple types of buses, and the type of the target bus corresponds to the type of the analysis data.

[0202] In a possible implementation manner, the scenario to be tested is a scenario for testing switching between driving and parking states of the vehicle to be tested, and the simulation output data includes: a simulated driving and parking state.

[0203] In this scenario, the sending module 1601 can be specifically used to: determine the first configuration data used for the parking state switching test of the vehicle to be tested from the pre-generated test samples, send the first configuration data to the bus device, so that the bus device sends the first configuration data to the device to be tested, wherein the first configuration data is: object state data used to make the parking state of the vehicle to be tested in the first state, and the object state data includes: data describing the vehicle state and / or data describing the object state in the environment; determine the second configuration data used for the parking state switching test of the vehicle to be tested from the test samples according to the test process, and send the second configuration data to the device to be tested through the bus device, wherein the second configuration data is: data describing the object state in the environment used to switch the parking state of the vehicle to be tested from the first state to the second state.

[0204] In a possible implementation manner, the sending module 1601 may be specifically used to send a stub function command to the device under test via a bus device, wherein the stub of the stub function command is the second configuration data.

[0205] In a possible implementation manner, the above-mentioned sending module 1601 can be specifically used for: sending a test command based on a universal diagnostic protocol to the device to be tested through a bus device, wherein a first preset position in the test command is configured with a routine control service identifier, a second preset position in the test command is configured with an identifier of a routine for executing the test command, and a third preset position in the test command is configured with a pile function command.

[0206] In summary of a possible implementation, the sending module 1601 may be specifically used to: create a test session with the device to be tested through the bus device based on a preset test session identifier, and send a test command based on a universal diagnostic protocol to the device to be tested through the test session.

[0207] In one possible implementation, the comparison module 1603 may be specifically used to: sample the simulated output data and the expected data corresponding to the scenario to be tested, respectively, according to a preset sampling period, to obtain a first sampling value and a second sampling value, respectively; calculate the error statistical characteristic value between the first sampling value and the second sampling value at the same sampling moment; if the error statistical characteristic value is greater than the preset error statistical characteristic value, determine that the vehicle to be tested has passed the test for the scenario to be tested; if the error statistical characteristic value is less than or equal to the preset error statistical characteristic value, determine that the vehicle to be tested has not passed the test for the scenario to be tested.

[0208] In the technical solution of this application, the acquisition, storage, use, processing, transmission, provision and disclosure of scene sample data such as vehicle data and environmental data or test samples are all carried out with the authorization of relevant personnel.

[0209] The present application also provides an electronic device, such as the above-mentioned test host computer, such as Fig.17 As shown, including:

[0210] Memory 1701, used for storing computer programs;

[0211] The processor 1702 is used to implement any of the above-mentioned vehicle testing methods when executing the program stored in the memory 1701.

[0212] In addition, the electronic device may further include a communication bus and / or a communication interface, and the processor 1702, the communication interface, and the memory 1701 communicate with each other via the communication bus.

[0213] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0214] The communication interface is used for communication between the above electronic device and other devices.

[0215] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0216] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0217] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned vehicle testing methods is implemented.

[0218] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any vehicle testing method in the above embodiments.

[0219] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may 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 may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0220] It should be noted that, 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 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 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, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0221] Each embodiment in this specification is described in a related 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 method, device, electronic device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the system embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0222] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A vehicle testing system, characterized in that: The system comprises: a test host computer, a bus device and a device to be tested, wherein the device to be tested is deployed with system software of an intelligent driving system in a vehicle to be tested, and the bus device is communicatively connected with the device to be tested via a bus harness; The test host computer is used to determine the test data used to test the vehicle to be tested according to the test scenario, and send the test data to the device to be tested; The device to be tested is used to run the system software based on the test data, simulate the operation of the intelligent driving system, obtain simulated output data of the intelligent driving system, and send the simulated output data to the bus device through the bus harness; The bus device is used to send the simulated output data to the test host computer; The test host computer is further used to compare the simulated output data with expected data corresponding to the scenario to be tested, and obtain a test result for the scenario to be tested based on the comparison result.

2. The system according to claim 1, characterized in that The scenario to be tested is a scenario for testing the parking function of the vehicle to be tested, the simulated output data includes: a vehicle control signal and / or an alarm signal, and the system further includes: a data analysis device, the data analysis device is communicatively connected to the device to be tested via multiple types of buses; The test host computer is specifically used to determine the environmental data of the environment in which the vehicle to be tested is located and the vehicle data of the vehicle to be tested in the test scene for testing the parking function from the test samples in a set format collected in advance, and send the environmental data and the vehicle data to the data analysis device, wherein the environmental data and the vehicle data have the same timestamp; The data analysis device is used to analyze the data sent by the test host computer to obtain analysis data that conforms to the specified format of the vehicle to be tested. For each type of analysis data, the analysis data is sent to the device to be tested via a target bus among the multiple types of buses, wherein the type of the target bus corresponds to the type of the analysis data.

3. The system according to claim 2, characterized in that The environmental data includes: video data and radar data; the multiple types of buses include: low voltage differential signal LVDS bus, serial peripheral interface SPI bus and controller area network CAN bus, and the vehicle data includes: data transmitted through the CAN bus when the actual vehicle is running; The data analysis device is specifically used to perform decapsulation processing, decoding processing and serialization processing on the video data in sequence, generate image data that conforms to the specified format of the vehicle to be tested, and send the image data corresponding to each camera to the interface of each camera configured on the vehicle to be tested in the device to be tested through the LVDS bus; based on the data protocol corresponding to the radar configured on the vehicle to be tested, convert the radar data into SPI messages, and send the SPI messages to the device to be tested through the SPI bus; based on the CAN matrices corresponding to various types of data in the vehicle data, respectively convert different types of data in the vehicle data into CAN messages, and send the CAN messages to the device to be tested through the CAN bus.

4. The system according to claim 1, characterized in that The to-be-tested scenario is a scenario for testing switching the driving and parking states of the to-be-tested vehicle, and the simulation output data includes: the simulated driving and parking states; The test host computer is specifically used to determine first configuration data used for switching the parking state of the vehicle to be tested from the pre-generated test samples, and send the first configuration data to the bus device, wherein the first configuration data is: object state data used to make the parking state of the vehicle to be tested in a first state, and the object state data includes: data describing the vehicle state and / or data describing the object state in the environment; The bus device is further used to send the first configuration data to the device under test; The device to be tested is specifically used to run the system software based on the first configuration data to simulate the parking state of the vehicle to be tested in the working configuration of the intelligent driving system; The test host computer is specifically used to determine second configuration data used for switching the parking state of the vehicle to be tested from the test sample according to the test process, and send the second configuration data to the bus device, wherein the second configuration data is: data describing the state of an object in an environment for switching the parking state of the vehicle to be tested from a first state to a second state; The bus device is further used to send the second configuration data to the device under test; The device to be tested is specifically used to run the system software based on the second configuration data, simulate the driving and parking state of the vehicle to be tested in the working configuration of the intelligent driving system, and send the simulated driving and parking state to the bus device.

5. The system according to claim 4, characterized in that The test host computer is specifically used to send a stub function command to the device to be tested through the bus device, wherein the stub of the stub function command is the second configuration data.

6. The system according to claim 5, characterized in that Described test host computer, is specifically used for sending the test command based on universal diagnostic protocol to described equipment to be tested through described bus equipment, wherein, in described test command, first preset position is configured with routine control service mark, in described test command, second preset position is configured with the mark of the routine for executing test command, and in described test command, third preset position is configured with pile function command; The device to be tested is specifically used to receive the test command; according to the universal diagnostic protocol, the data at the first preset position in the test command is parsed, if the routine control service identifier is obtained by the parsing, the data at the second preset position in the test command is parsed to obtain the identifier of the routine for executing the test command, and the data at the third preset position in the test command is parsed to obtain a stub function command; the routine indicated by the obtained identifier is called to run the system software with the stub of the stub function command as the second configuration data.

7. The system according to claim 6, characterized in that The test host computer is specifically used to create a test session with the device to be tested through the bus device based on a preset test session identifier, and send a test command based on a universal diagnostic protocol to the device to be tested through the test session; The device to be tested is specifically used to obtain the identifier of the session for transmitting the received data, and if the obtained identifier is the test session identifier, determine the test command from the received data.

8. The system according to claim 7, characterized in that The device to be tested is used to receive a session switching request, and if the session switching request is a request for switching between the test session and a default session, respond to the session switching request; if the session switching request is a request for switching between the test session and a session other than the default session, refuse to respond to the session switching request.

9. The system according to any one of claims 1 to 8, characterized in that: The test host computer is specifically used to sample the simulated output data and the expected data corresponding to the scenario to be tested according to a preset sampling period, respectively, to obtain a first sampling value and a second sampling value, respectively, and to calculate an error statistical characteristic value between the first sampling value and the second sampling value at the same sampling moment; if the error statistical characteristic value is greater than a preset error statistical characteristic value, it is determined that the vehicle to be tested has passed the test for the scenario to be tested; if the error statistical characteristic value is less than or equal to the preset error statistical characteristic value, it is determined that the vehicle to be tested has not passed the test for the scenario to be tested.

10. A vehicle testing method, characterized in that: A test host computer applied to a vehicle test system, the vehicle test system further comprising: a bus device and a device to be tested, wherein the device to be tested is deployed with system software of an intelligent driving system in the vehicle to be tested, and the bus device is connected to the device to be tested via a bus harness; The method comprises: Determine test data for testing the vehicle to be tested according to the scenario to be tested, and send the test data to the device to be tested; Receiving simulated output data fed back by the device under test and sent by a bus device, wherein the simulated output data is: the device under test runs the system software based on the test data to simulate the operation of the intelligent driving system, and the simulated output data of the intelligent driving system is obtained; The simulated output data is compared with expected data corresponding to the scenario to be tested, and a test result for the scenario to be tested is obtained based on the comparison result.

11. A vehicle testing device, characterized in that: A test host computer applied to a vehicle test system, the vehicle test system further comprising: a bus device and a device to be tested, wherein the device to be tested is deployed with system software of an intelligent driving system in the vehicle to be tested, and the bus device is connected to the device to be tested via a bus harness; The device comprises: A sending module, used to determine test data used to test the vehicle to be tested according to the scenario to be tested, and send the test data to the device to be tested; a receiving module, configured to receive simulated output data fed back by the device under test and sent by a bus device, wherein the simulated output data is the simulated output data of the intelligent driving system obtained by the device under test running the system software based on the test data to simulate the operation of the intelligent driving system; The comparison module is used to compare the simulated output data with the expected data corresponding to the scenario to be tested, and obtain a test result for the scenario to be tested based on the comparison result.

12. An electronic device, characterized in that: include: Memory, used to store computer programs; The processor is used to implement the method described in claim 10 when executing the program stored in the memory.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to claim 10 is implemented.

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