Hardware-in-the-loop test system and method for automatic driving domain controller

Abstract

The invention discloses a hardware-in-the-loop test of an automatic driving domain controller. The hardware-in-the-loop test comprises a real-time processor and a graphic workstation, the graphic workstation is used for generating simulated traffic scene information, generating simulated sensor information based on the simulated traffic scene information, and transmitting the simulated traffic scene information and first simulated sensor information in the simulated sensor information to the automatic driving domain controller; transmitting second simulation sensor information in the simulation sensor information to a real-time processor; the real-time processor is used for transmitting the second simulation sensor information to the automatic driving domain controller and receiving vehicle control information fed back by the automatic driving domain controller. According to the hardware-in-the-loop test system and device of the automatic driving domain controller and the storage medium provided by the invention, the problem that scene information is not matched with sensor sensing information during hardware-in-the-loop test can be avoided, and the test accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more specifically, to a hardware-in-the-loop testing system and method for an autonomous driving domain controller. Background Art

[0002] The intelligent driving function test of autonomous driving vehicles is an important part of autonomous driving research and development, and is also an important support for the development of autonomous driving technology. With the continuous industrialization of high-level automation of intelligent connected vehicles, the reliance on testing is becoming more and more in-depth, especially in the face of L3 and above autonomous driving products that are about to be mass-produced. New adjustments have been proposed for existing testing technologies, standards and regulations, requiring new technological breakthroughs.

[0003] The testing of autonomous vehicles accompanies the entire process of vehicle development, including EE basic communication testing (EE, Electronic and Electrical), software-in-loop (SIL, Software-in-loop), hardware-in-loop (HIL, Hardware-in-loop), vehicle-in-loop testing (VIL, Vehicle-in-loop), vehicle site testing, road testing and other methods, covering the full chain verification from components to systems to complete vehicles.

[0004] Hardware-in-the-loop is a testing method that connects real controllers to virtual vehicles and scenarios to test and verify the functions and performance of the controllers. Hardware-in-the-loop testing can replace most real-vehicle testing and achieve advanced and efficient testing of the domain controllers of autonomous driving of intelligent connected vehicles, shorten the testing time of intelligent connected vehicles, save costs, and effectively improve the efficiency of scenario testing of intelligent connected vehicles, promote the implementation of intelligent connected vehicles, and accelerate the iteration and upgrade of algorithms for intelligent connected vehicles.

[0005] In the prior art, during the hardware-in-the-loop test of the autonomous driving domain controller, the sensor perception information is generated by the real-time processor, and the scene information is generated by the graphics workstation. This testing method will cause the scene information perceived by the sensor to not come directly from the graphics workstation, but to be generated by the real-time processor, which may cause the scene information to not match the sensor perception information, resulting in unstable test results and prone to erroneous tests. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a hardware-in-the-loop testing system and method for an autonomous driving domain controller, which can avoid the mismatch problem between scene information and sensor perception information during hardware-in-the-loop testing.

[0007] The present invention provides a hardware-in-the-loop test system for an autonomous driving domain controller, comprising a real-time processor and a graphics workstation, wherein the real-time processor is connected to the graphics workstation, and both the real-time processor and the graphics workstation are used to connect to the autonomous driving domain controller under test; the graphics workstation is used to generate simulated traffic scene information, generate simulated sensor information based on the simulated traffic scene information, transmit the first simulated sensor information in the simulated traffic scene information and the simulated sensor information to the autonomous driving domain controller, and transmit the second simulated sensor information in the simulated sensor information to the real-time processor; the real-time processor is used to transmit the second simulated sensor information to the autonomous driving domain controller, and receive vehicle control information fed back by the autonomous driving domain controller.

[0008] In one embodiment, it also includes a video conversion module, a first Ethernet signal conversion module and a DSI3 signal conversion module. The graphic workstation is connected to the autonomous driving domain controller through the video conversion module, the first Ethernet signal conversion module and the DSI3 signal conversion module.

[0009] In one embodiment, the video conversion module includes a video signal conversion module and a hardware simulation module. The video signal conversion module is used to convert the video sensor information in the first simulation sensor information and transmit it to the autonomous driving domain controller. The hardware simulation module is used to write specified hardware parameters to the specified position of the register of the video conversion module so that the autonomous driving domain controller performs hardware detection based on the hardware parameters.

[0010] In one embodiment, it also includes a bus signal conversion module, which includes a second Ethernet signal conversion module, and at least two of a CAN signal conversion module, a CANFD signal conversion module, and a LIN signal conversion module; the bus signal conversion module is connected to the real-time processor through a standard cable, and the bus signal conversion module is connected to the autonomous driving domain controller through a specific cable; the type of the specific cable corresponds to the type of the bus signal conversion module.

[0011] In one embodiment, the graphics workstation includes a scene simulation module and a first time synchronization module; the scene simulation module is used to generate simulated traffic scene information and generate simulated sensor information based on the simulated traffic scene information; the first time synchronization module is used to achieve time synchronization between the graphics workstation and the real-time processor.

[0012] In one embodiment, the real-time processor includes a bus simulation module, a vehicle dynamics simulation module and a second time synchronization module; the bus simulation module is used to generate associated sensor information based on the vehicle control information when receiving vehicle control information, and transmit the associated sensor information to the vehicle dynamics simulation module, and when receiving vehicle status information fed back by the vehicle dynamics simulation module, convert the vehicle status information and transmit it to the graphics workstation; the vehicle dynamics simulation module is used to generate vehicle status information based on the received associated sensor information, and transmit the vehicle status information to the bus simulation module; the second time synchronization module is used to achieve time synchronization between the real-time processor and the graphics workstation.

[0013] In one embodiment, it also includes a host computer connected to the real-time processor and the graphics workstation; the host computer is used to send control instructions to the real-time processor and the graphics workstation, and determine the test results based on the vehicle control information received by the real-time processor.

[0014] The present invention also provides a hardware-in-the-loop testing method for an autonomous driving domain controller, comprising: controlling a graphics workstation to generate simulated traffic scene information and simulated sensor information; the simulated sensor information is generated based on the simulated traffic scene information, and the simulated sensor information includes first simulated sensor information and second simulated sensor information; controlling the graphics workstation to transmit the simulated traffic scene information and the first simulated sensor information to the autonomous driving domain controller, and transmitting the second simulated sensor information to a real-time processor; controlling the real-time processor to transmit the received second simulated sensor information to the autonomous driving domain controller, and receiving vehicle control information fed back by the autonomous driving domain controller.

[0015] In one embodiment, the graphics workstation is controlled to transmit the simulated traffic scene information and the first simulation sensor information to the autonomous driving domain controller, including: the graphics workstation is controlled to transmit the video sensor information in the first simulation sensor information to the video conversion module, so that the video conversion module transmits the video sensor information to the autonomous driving domain controller, and writes the specified hardware parameters to the specified position of the register.

[0016] In one implementation, the hardware parameters are generated by the video conversion module based on video sensor information, or the video conversion module is generated based on a received control instruction.

[0017] The hardware-in-the-loop testing system and method of the autonomous driving domain controller provided by the present invention comprises the following steps: a graphics workstation generates simulated traffic scene information, simulated sensor information is generated based on the simulated traffic scene information, the simulated traffic scene information and the first simulated sensor information in the simulated sensor information are transmitted to the autonomous driving domain controller, and the second simulated sensor information in the simulated sensor information is transmitted to the real-time processor, and the real-time processor transmits the second simulated sensor information to the autonomous driving domain controller, so that the tested autonomous driving domain controller can receive the simulated sensor information and the simulated traffic scene information that are closely related to the simulated traffic scene, and the problem of mismatch between scene information and sensor perception information can be avoided during hardware-in-the-loop testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of a hardware-in-the-loop test system for an autonomous driving domain controller according to an embodiment of the present invention.

[0019] Figure 2 A schematic diagram of the structure of a hardware-in-the-loop test system for an autonomous driving domain controller according to another embodiment of the present invention.

[0020] Figure 3 This is a flowchart of a hardware-in-the-loop testing method for an autonomous driving domain controller according to an embodiment of the present invention.

[0021] In the figure:

[0022] 11-Hardware-in-the-loop test system of autonomous driving domain controller; 12-Autonomous driving domain controller; 111-Real-time processor; 112-Graphics workstation; 113-Bus signal conversion module; 114-First Ethernet signal conversion module; 115-DSI3 signal conversion module; 116-Video conversion module; 117-Host computer; 118-Switch; 1111-Vehicle dynamics simulation module; 1112-Bus simulation module; 1113-Second time synchronization module; 1121-Scene simulation module; 1122-First time synchronization module; 1131-Second Ethernet signal conversion module; 1132-CAN signal conversion module; 1133-CANFD signal conversion module; 1134-LIN signal conversion module; 1161-Video signal conversion module; 1162-Hardware simulation module. DETAILED DESCRIPTION

[0023] The above and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the preferred embodiments with reference to the drawings. Through the description of the specific implementation methods, the technical means and effects adopted by the present invention to achieve the predetermined purpose can be more deeply and specifically understood. However, the drawings are only for reference and explanation purposes and are not used to limit the present invention.

[0024] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the present invention is described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0025] Figure 1 A schematic diagram of the structure of a hardware-in-the-loop test system for an autonomous driving domain controller according to an embodiment of the present invention.

[0026] like Figure 1 As shown, the hardware-in-the-loop test system 11 of the autonomous driving domain controller provided in this embodiment includes a real-time processor 111 and a graphics workstation 112.

[0027] The real-time processor 111 is connected to the graphic workstation 112, and the real-time processor 111 and the graphic workstation 112 are connected to the autonomous driving domain controller 12 under test.

[0028] The graphic workstation 112 generates simulated traffic scene information, and generates corresponding simulated sensor information according to the simulated traffic scene information. The simulated sensor information includes first simulated sensor information and second simulated sensor information. The first simulated sensor information is perception information of the video sensor and the ultrasonic radar sensor, and the second simulated sensor information is perception information of the millimeter wave radar sensor, the GNSS sensor and other sensors.

[0029] The graphic workstation 112 transmits the simulated traffic scene information and the first simulated sensor information to the autonomous driving domain controller 12 , and transmits the second simulated sensor information to the real-time processor 111 .

[0030] The real-time processor 111 receives the second simulation sensor information sent by the graphics workstation 112, and transmits the second simulation sensor to the autonomous driving domain controller 12. The real-time processor 111 is also used to receive the vehicle control information fed back by the autonomous driving domain controller 12.

[0031] In one embodiment, when the real-time processor 111 receives the second simulation sensor information, it generates a corresponding associated component CAN signal based on the second simulation sensor information, and transmits the associated component CAN signal and the second simulation sensor information together to the autonomous driving domain controller 12.

[0032] The autonomous driving domain controller 12 performs simulation control based on the received simulated traffic scene information, the first simulation sensor information, the second simulation sensor information and the associated CAN signal to generate vehicle control information, and transmits the vehicle control information to the real-time processor 111.

[0033] Figure 2 A schematic diagram of the structure of a hardware-in-the-loop test system for an autonomous driving domain controller according to another embodiment of the present invention.

[0034] like Figure 2 As shown, the hardware-in-the-loop test system 11 of the autonomous driving domain controller provided in this embodiment includes a real-time processor 111, a graphics workstation 112, a bus signal conversion module 113, a first Ethernet signal conversion module 114, a DSI3 signal conversion module 115, a video conversion module 116, a host computer 117, and a switch 118.

[0035] The real-time processor 111 , the graphic workstation 112 , and the host computer 117 are connected via a switch 118 .

[0036] The graphic workstation 112 is connected to the autonomous driving domain controller 12 via a first Ethernet signal conversion module 114 , a DSI3 signal conversion module 115 , and a video conversion module 116 .

[0037] The first Ethernet signal conversion module 114, the DSI3 signal conversion module 115, and the video conversion module 116 are connected to the graphic workstation 112 via standard cables; the first Ethernet signal conversion module 114 is connected to the autonomous driving domain controller 12 via an Ethernet cable, the DSI3 signal conversion module 115 is connected to the autonomous driving domain controller 12 via a DSI3 cable, and the video conversion module 116 is connected to the autonomous driving domain controller 12 via a video cable and a register information reading cable.

[0038] The graphic workstation 112 includes a scene simulation module 1121 and a first time synchronization module 1122; when the graphic workstation 112 receives the start test control instruction sent by the host computer, the scene simulation module 1121 generates simulated traffic scene information, and generates corresponding simulated sensor information according to the simulated traffic scene information, the simulated sensor information includes first simulated sensor information and second simulated sensor information, the first simulated sensor information is the perception information of the video sensor and the perception information of the ultrasonic radar sensor, and the second simulated sensor information is the perception information of the millimeter wave radar sensor and the perception information of the GNSS sensor etc.; the graphic workstation 112 transmits the simulated traffic scene information to the first Ethernet signal conversion module 114, the graphic workstation 112 transmits the perception information of the ultrasonic radar sensor in the first simulation sensor information to the DSI3 signal conversion module 115, the graphic workstation 112 transmits the perception information of the video sensor in the first simulation sensor information to the video conversion module 116, and the graphic workstation 112 transmits the second simulation sensor information to the switch 118; the first time synchronization module 1122 is used to realize the time synchronization between the graphic workstation 112 and the real-time processor 111.

[0039] The first Ethernet signal conversion module 114 receives the simulated traffic scene information sent by the graphic workstation 112 , converts the simulated traffic scene information into an Ethernet signal, and transmits it to the autonomous driving domain controller 12 .

[0040] The DSI3 signal conversion module 115 receives the perception information of the ultrasonic radar sensor sent by the graphics workstation 112, converts the perception information of the ultrasonic radar sensor into a DSI3 signal, and transmits it to the autonomous driving domain controller 12.

[0041] The video conversion module 116 includes a video signal conversion module 1161 and a hardware simulation module 1162. The video signal conversion module 1161 receives the perception information of the video sensor sent by the graphic workstation 112, converts the perception information of the video sensor into a video signal, and transmits it to the autonomous driving domain controller 12; the hardware simulation module 1162 obtains the hardware parameters of the video sensor according to the perception information of the video sensor, and writes the hardware parameters corresponding to the hardware parameters of the video sensor at the specified position of the register (not shown in the figure) of the video conversion module 116, so that the autonomous driving domain controller can perform hardware detection based on the hardware parameters stored in the register. When the control algorithm of the autonomous driving domain controller includes the detection of hardware parameters, only simulating sensor data cannot meet the activation requirements of such autonomous driving domain controllers. Writing the specified hardware parameters corresponding to the video sensor or other hardware at the specified position of the register can enable the hardware-in-the-loop test system to pass the hardware detection performed by the autonomous driving domain controller.

[0042] In one implementation, the host computer 7 sends a control instruction to the hardware simulation module 1162 of the video conversion module 116 through the switch 118 and the graphic workstation 112 .

[0043] In one embodiment, the hardware simulation module 1162 writes the specified hardware parameters at the specified position of the register of the video conversion module 116 according to the received control instruction. The specified hardware parameters are generated according to the control instruction, and the specified hardware parameters include but are not limited to the hardware parameters of the video sensor, and may also be the hardware parameters of other sensors or hardware. For example, the specified hardware parameters are the hardware parameters of the ultrasonic radar sensor.

[0044] In one embodiment, the hardware simulation module 1162 obtains control instructions through communication methods such as Bluetooth, wifi, 4G, 5G, etc.

[0045] In one embodiment, the autonomous driving domain controller 12 reads the hardware parameters stored at the specified position of the register of the video conversion module 116 during hardware detection, and performs hardware detection based on the read hardware parameters.

[0046] In one embodiment, the hardware simulation module 1162 transmits the hardware parameters and the video signal together to the autonomous driving domain controller 12, or the hardware simulation module 1162 transmits the hardware parameters to the autonomous driving domain controller 12 when receiving the hardware detection signal sent by the autonomous driving domain controller 12, and the autonomous driving domain controller 12 performs hardware detection based on the received hardware parameters.

[0047] The switch 118 receives the second simulated sensor information sent by the graphic workstation 112 , and transmits the second simulated sensor information to the real-time processor 111 .

[0048] The real-time processor 111 is connected to the bus signal conversion module 113 , and the real-time processor 111 includes a vehicle dynamics simulation module 1111 , a bus simulation module 1112 , and a second time synchronization module 1113 ; the second time synchronization module 1113 is used to achieve time synchronization between the real-time processor 111 and the graphics workstation 112 .

[0049] The bus simulation module 1112 of the real-time processor 111 generates a corresponding associated component CAN signal according to the second simulation sensor information, and transmits the second simulation sensor information and the associated component CAN signal to the bus signal conversion module 113 .

[0050] The bus signal conversion module 113 is connected to the autonomous driving domain controller 12. The bus signal conversion module 113 receives the associated component CAN signal and the second simulation sensor information sent by the bus simulation module 1112, converts the associated component CAN signal and the second simulation sensor information into corresponding message information, and transmits it to the autonomous driving domain controller 12.

[0051] The bus signal conversion module 113 includes a second Ethernet signal conversion module 1131 and at least two of a CAN signal conversion module 1132, a CANFD signal conversion module 1133, and a LIN signal conversion module 1134. The conversion modules in the bus signal conversion module 113 can be increased or decreased according to the hardware re-loop test requirements, and the conversion modules of the bus signal conversion module 113 include but are not limited to the above-mentioned conversion modules.

[0052] The bus signal conversion module 113 is connected to the real-time processor 111 through a standard cable, and the bus signal conversion module 113 is connected to the autonomous driving domain controller 12 through a specific cable, and the type of the specific cable corresponds to the type of the conversion module included in the bus signal conversion module 113. For example, when the bus signal conversion module 113 includes a second Ethernet signal conversion module 1131, the specific cable includes an Ethernet cable; when the bus signal conversion module 113 includes a CAN signal conversion module 1132, the specific cable includes a CAN cable; when the bus signal conversion module 113 includes a CANFD signal conversion module 1133, the specific cable includes a CANFD cable; when the bus signal conversion module 113 includes a LIN signal conversion module 1134, the specific cable includes a LIN cable.

[0053] The autonomous driving domain controller 12 performs simulation control according to the received simulated traffic scene information, the first simulation sensor information, the second simulation sensor information and the associated CAN signal, generates vehicle control information, and transmits the vehicle control information to the bus signal conversion module 113.

[0054] The bus signal conversion module 113 converts the vehicle control information and transmits it to the real-time processor 111 .

[0055] The bus simulation module 1112 of the real-time processor 111 generates corresponding associated sensor information based on the received vehicle control information, and transmits the associated sensor information to the vehicle dynamics simulation module 1111 .

[0056] The vehicle dynamics simulation module 1111 performs dynamics simulation based on the received associated sensor information to generate vehicle state information, and transmits the vehicle state information to the bus simulation module 1112 .

[0057] The bus simulation module 1112 converts the vehicle coordinate information in the vehicle status information to generate converted vehicle status information, and transmits the converted vehicle status information to the switch 118 .

[0058] The switch 118 transmits the received converted vehicle status information to the graphic workstation 112 .

[0059] The graphic workstation 112 updates the simulated traffic scene information and the simulated sensor information based on the received converted vehicle status information, and transmits the updated simulated traffic scene information and the simulated sensor information to the first Ethernet signal conversion module 114, the DSI3 signal conversion module 115, and the video conversion module 116 accordingly.

[0060] When receiving the vehicle control information sent by the autonomous driving domain controller 12 , the bus simulation module 1112 also sends the vehicle control information to the switch 118 .

[0061] The switch 118 transmits the received vehicle control information to the host computer 117 .

[0062] The host computer 117 is used to send control instructions to the real-time processor 111 and the graphic workstation 112, and analyze the received vehicle control information to determine the test results.

[0063] In one embodiment, the graphic workstation 112 is also connected to the bus signal conversion module 113 , and the graphic workstation 112 transmits the second simulation sensor information to the autonomous driving domain controller 12 through the bus signal conversion module 113 .

[0064] The hardware-in-the-loop test system of the autonomous driving domain controller provided by the present invention allows the autonomous driving domain controller under test to receive simulated sensor information and simulated traffic scene information closely related to the simulated traffic scene, and write hardware parameters in the registers of the video conversion module. This not only avoids the problem of mismatch between scene information and sensor perception information during hardware-in-the-loop testing, but also allows the test system to verify the hardware parameters through the autonomous driving domain controller, thereby improving the accuracy and comprehensiveness of the test.

[0065] Figure 3 This is a flowchart of a hardware-in-the-loop testing method for an autonomous driving domain controller according to an embodiment of the present invention.

[0066] like Figure 3 As shown in the figure, the hardware-in-the-loop test method of the autonomous driving domain controller includes:

[0067] Step S31: controlling the graphic workstation to generate simulated traffic scene information and simulated sensor information; the simulated sensor information is generated based on the simulated traffic scene information, and the simulated sensor information includes first simulated sensor information and second simulated sensor information.

[0068] Specifically, the host computer sends a test start instruction to the graphic workstation. The graphic workstation starts the test upon receiving the test start instruction, generates simulated traffic scene information, and generates corresponding simulated sensor information based on the simulated traffic scene information. The simulated sensor information includes sensor perception information of video sensors, ultrasonic radar sensors, millimeter wave radar sensors, GNSS sensors, and other sensors. The video sensor perception information and ultrasonic radar sensor perception information are first simulated sensor information, and the millimeter wave radar sensor perception information, GNSS sensor perception information, and other sensors perception information are second simulated sensor information.

[0069] Step S32: Control the graphics workstation to transmit the simulated traffic scene information and the first simulation sensor information to the autonomous driving domain controller, and transmit the second simulation sensor information to the real-time processor.

[0070] Specifically, the host computer controls the graphics workstation to transmit the video sensor information in the first simulation sensor information to the video conversion module. The video conversion module obtains the corresponding hardware parameters according to the video sensor information, writes the hardware parameters at the specified position of the register of the video conversion module, and converts the video sensor information into a signal format and sends it to the autonomous driving domain controller.

[0071] In one embodiment, the video conversion module generates corresponding hardware parameters based on the control instructions sent by the graphics workstation. The video conversion module obtains the control instructions through the graphics workstation, or obtains the control instructions through communication methods such as Bluetooth, wifi, 4G, and 5G.

[0072] The real-time processor generates a corresponding associated component CAN signal based on the second simulation sensor information, and transmits the second simulation sensor information and the associated component CAN signal to the autonomous driving domain controller.

[0073] Specifically, after receiving the simulated sensor information, the first simulated sensor, the second simulated sensor information, and the CAN signal of the related parts, the autonomous driving domain controller will perform simulated control based on the received information, generate vehicle control information, and transmit the vehicle control information to the real-time processor.

[0074] Step S33: Control the real-time processor to transmit the received second simulation sensor information to the autonomous driving domain controller, and receive the vehicle control information fed back by the autonomous driving domain controller.

[0075] Specifically, the host computer controls the real-time processor to generate a corresponding associated component CAN signal based on the second simulation sensor information, and converts the second simulation sensor information and the associated component CAN signal into a signal format through a bus signal conversion module and sends them to the autonomous driving domain controller.

[0076] Specifically, after receiving the simulated sensor information, the first simulated sensor, the second simulated sensor information, and the CAN signal of the related parts, the autonomous driving domain controller will perform simulated control based on the received information, generate vehicle control information, and transmit the vehicle control information to the real-time processor.

[0077] Specifically, the host computer controls the real-time processor, and when receiving the vehicle control information sent by the autonomous driving domain controller, the host computer sends the vehicle control information to the host computer, and the host computer analyzes the received vehicle control information to determine the test result of this test cycle of the autonomous driving domain controller; when the vehicle control information received by the host computer is the vehicle control information of the last test cycle in this test cycle, the host computer determines that this test is over, and generates a test report based on multiple vehicle control information received in this test cycle.

[0078] Specifically, after step S33, the host computer controls the real-time processor to obtain vehicle status information according to the vehicle control information, and sends the vehicle status information to the graphics workstation, so that the graphics workstation updates the simulated traffic scene information and the simulation sensor information according to the vehicle status information.

[0079] Specifically, the bus simulation module of the real-time processor is controlled to generate associated sensor information according to the vehicle control information, the vehicle dynamics simulation module of the real-time processor is controlled to generate vehicle status information according to the associated sensor information, and the bus simulation module of the real-time processor is controlled to convert the vehicle status information and send it to the graphics workstation.

[0080] The hardware-in-the-loop testing system and method of the autonomous driving domain controller provided by the present invention enable the autonomous driving domain controller under test to receive simulated sensor information and simulated traffic scene information closely related to the simulated traffic scene, and write hardware parameters in the registers of the video conversion module. This not only avoids the mismatch problem between scene information and sensor perception information during hardware-in-the-loop testing, but also enables the test system to verify the hardware parameters through the autonomous driving domain controller, thereby improving the accuracy and comprehensiveness of the test.

[0081] The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes through the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A hardware-in-the-loop test system for an autonomous driving domain controller, characterized in that: It includes a real-time processor and a graphics workstation, the real-time processor is connected to the graphics workstation, and the real-time processor and the graphics workstation are both used to connect to the tested autonomous driving domain controller; The graphic workstation is used to generate simulated traffic scene information, generate simulated sensor information based on the simulated traffic scene information, transmit the simulated traffic scene information and the first simulated sensor information in the simulated sensor information to the autonomous driving domain controller, and transmit the second simulated sensor information in the simulated sensor information to the real-time processor; The real-time processor is used to transmit the second simulation sensor information to the autonomous driving domain controller and receive vehicle control information fed back by the autonomous driving domain controller.

2. The hardware-in-the-loop test system for the autonomous driving domain controller according to claim 1, characterized in that: It also includes a video conversion module, a first Ethernet signal conversion module and a DSI3 signal conversion module. The graphics workstation is connected to the autonomous driving domain controller through the video conversion module, the first Ethernet signal conversion module and the DSI3 signal conversion module.

3. The hardware-in-the-loop test system for the autonomous driving domain controller according to claim 2, characterized in that: The video conversion module includes a video signal conversion module and a hardware simulation module. The video signal conversion module is used to convert the video sensor information in the first simulation sensor information and transmit it to the autonomous driving domain controller. The hardware simulation module is used to write specified hardware parameters to the specified position of the register of the video conversion module so that the autonomous driving domain controller performs hardware detection based on the hardware parameters.

4. The hardware-in-the-loop test system for the autonomous driving domain controller according to claim 1, characterized in that: It also includes a bus signal conversion module, which includes a second Ethernet signal conversion module, and at least two of a CAN signal conversion module, a CANFD signal conversion module, and a LIN signal conversion module; the bus signal conversion module is connected to the real-time processor through a standard cable, and the bus signal conversion module is connected to the autonomous driving domain controller through a specific cable; the type of the specific cable corresponds to the type of the bus signal conversion module.

5. The hardware-in-the-loop test system for the autonomous driving domain controller according to claim 1, characterized in that: The graphic workstation includes a scene simulation module and a first time synchronization module; The scene simulation module is used to generate simulated traffic scene information, and generate simulated sensor information based on the simulated traffic scene information; The first time synchronization module is used to achieve time synchronization between the graphics workstation and the real-time processor.

6. The hardware-in-the-loop test system for the autonomous driving domain controller according to claim 1, characterized in that: The real-time processor includes a bus simulation module, a vehicle dynamics simulation module and a second time synchronization module; The bus simulation module is used to, when receiving the vehicle control information, generate associated sensor information based on the vehicle control information, and transmit the associated sensor information to the vehicle dynamics simulation module, and when receiving the vehicle state information fed back by the vehicle dynamics simulation module, convert the vehicle state information and transmit it to the graphics workstation; The vehicle dynamics simulation module is used to generate the vehicle state information based on the received associated sensor information and transmit the vehicle state information to the bus simulation module; The second time synchronization module is used to achieve time synchronization between the real-time processor and the graphics workstation.

7. The hardware-in-the-loop test system for the autonomous driving domain controller according to claim 1, characterized in that: It also includes a host computer, which is connected to the real-time processor and the graphic workstation; The host computer is used to send control instructions to the real-time processor and the graphic workstation, and determine the test result based on the vehicle control information received by the real-time processor.

8. A hardware-in-the-loop testing method for an autonomous driving domain controller, characterized in that: include: Control the graphics workstation to generate simulated traffic scene information and simulated sensor information; The simulated sensor information is generated based on the simulated traffic scene information, and the simulated sensor information includes first simulated sensor information and second simulated sensor information; Controlling the graphic workstation to transmit the simulated traffic scene information and the first simulation sensor information to the autonomous driving domain controller, and transmitting the second simulation sensor information to the real-time processor; Control the real-time processor to transmit the received second simulation sensor information to the autonomous driving domain controller, and receive the vehicle control information fed back by the autonomous driving domain controller.

9. The hardware-in-the-loop testing method of the autonomous driving domain controller according to claim 8, characterized in that: The controlling the graphics workstation to transmit the simulated traffic scene information and the first simulation sensor information to the autonomous driving domain controller includes: Control the graphics workstation to transmit the video sensor information in the first simulation sensor information to the video conversion module, so that the video conversion module transmits the video sensor information to the autonomous driving domain controller and writes the specified hardware parameters into the specified position of the register.

10. The hardware-in-the-loop testing method of the autonomous driving domain controller according to claim 9, characterized in that: include: The hardware parameters are generated by the video conversion module based on the video sensor information, or generated by the video conversion module based on a received control instruction.

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