A hardware-in-the-loop test system and method for an autonomous driving domain controller

Abstract

The application discloses a kind of hardware-in-the-loop test of automatic driving domain controller, comprising: real-time processor and graphics workstation;Graphics workstation is used to generate simulation traffic scene information, simulation sensor information is generated based on simulation traffic scene information, first simulation sensor information in simulation traffic scene information and simulation sensor information, simulation traffic scene information and simulation sensor information are transmitted to automatic driving domain controller, second simulation sensor information in simulation sensor information is transmitted to real-time processor;Real-time processor is used to transmit second simulation sensor information to automatic driving domain controller, receives the vehicle control information that automatic driving domain controller feedback.This application provides the hardware-in-the-loop test system, device, storage medium of automatic driving domain controller, can avoid the problem that scene information and sensor perception information do not match when hardware-in-the-loop test, improves the accuracy of test.

Description

Technical Field

[0001] This 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 Technology

[0002] Testing the intelligent driving functions of autonomous vehicles is a crucial step in autonomous driving research and development, and a vital support for the advancement of autonomous driving technology. As high levels of automation in intelligent connected vehicles continue to be industrialized and implemented, the reliance on testing is deepening. This is especially true for L3 and above autonomous driving products that are about to enter mass production, which require new adjustments to existing testing technologies, standards, and regulations, necessitating new technological breakthroughs.

[0003] Testing of autonomous vehicles involves the entire vehicle development process, including EE (Electronic and Electrical) basic communication testing, SIL (Software-in-loop), HIL (Hardware-in-loop), VIL (Vehicle-in-loop), whole vehicle track testing, road testing, and other methods, covering the entire chain of verification from components to systems to the whole vehicle.

[0004] Hardware-in-the-loop (HIL) testing involves connecting a real controller to a virtual vehicle or scenario to test and verify the controller's functionality and performance. HIL testing can replace most real-vehicle testing and enable advanced, efficient testing of autonomous driving domain controllers for connected vehicles. This shortens testing time, saves costs, and effectively improves the efficiency of scenario testing for connected vehicles, promoting the deployment of connected vehicles and accelerating the iterative upgrades of connected vehicle algorithms.

[0005] In existing technologies, during hardware-in-the-loop testing of autonomous driving domain controllers, sensor-perceived information is generated by a real-time processor, while scene information is generated by a graphics workstation. This testing method results in the scene information perceived by the sensors not originating directly from the graphics workstation, but rather generated by the real-time processor. This may lead to a mismatch between the scene information and the sensor-perceived information, resulting in unstable test results and a high risk of erroneous tests. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes a hardware-in-the-loop testing system and method for autonomous driving domain controllers, which can avoid the mismatch between scene information and sensor perception information during hardware-in-the-loop testing.

[0007] This invention provides a hardware-in-the-loop testing system for an autonomous driving domain controller, including a real-time processor and a graphics workstation. The real-time processor and the graphics workstation are connected, and both 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, and transmit the first simulated sensor information from the simulated traffic scene information and the simulated sensor information to the autonomous driving domain controller. The second simulated sensor information from the simulated sensor information is transmitted 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, the system further 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.

[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 simulated sensor information and transmit it to the autonomous driving domain controller. The hardware simulation module is used to write specified hardware parameters to a specified location in the register of the video conversion module so that the autonomous driving domain controller can perform hardware detection based on the hardware parameters.

[0010] In one embodiment, a bus signal conversion module is also included. The bus signal conversion module 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 via a standard cable and to the autonomous driving domain controller via 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 realize the 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 it receives vehicle control information, and transmit the associated sensor information to the vehicle dynamics simulation module. When it receives vehicle state information fed back by the vehicle dynamics simulation module, it converts the vehicle state information and transmits it to the graphics workstation. The vehicle dynamics simulation module is used to generate 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 realize time synchronization between the real-time processor and the graphics workstation.

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

[0014] This invention also provides a hardware-in-the-loop testing method for an autonomous driving domain controller, comprising: controlling a graphical 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 includes first simulated sensor information and second simulated sensor information; controlling the graphical 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, controlling the graphics workstation to transmit simulated traffic scene information and first simulated sensor information to the autonomous driving domain controller includes: controlling the graphics workstation to transmit video sensor information from the first simulated sensor information to a 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 a specified location in the register.

[0016] In one embodiment, the hardware parameters are generated by the video conversion module based on video sensor information, or generated by the video conversion module based on received control commands.

[0017] The hardware-in-the-loop testing system and method for an autonomous driving domain controller provided by this invention involves a graphics workstation generating simulated traffic scene information, generating simulated sensor information based on the simulated traffic scene information, transmitting the first simulated sensor information from the simulated traffic scene information and the simulated sensor information to the autonomous driving domain controller, and transmitting the second simulated sensor information from the simulated sensor information to a real-time processor, which then transmits the second simulated sensor information to the autonomous driving domain controller. This allows the autonomous driving domain controller under test to receive simulated sensor information and simulated traffic scene information that are closely related to the simulated traffic scene, thus avoiding the mismatch between scene information and sensor perception information during hardware-in-the-loop testing. Attached Figure Description

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

[0019] Figure 2 This is a schematic diagram of the 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 picture:

[0022] 11-Hardware-in-the-loop test system for 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 Implementation

[0023] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of preferred embodiments with reference to the accompanying drawings. Through the description of the specific embodiments, a more in-depth and specific understanding can be gained of the technical means and effects adopted by the present invention to achieve its intended purpose. However, the accompanying drawings are for reference and illustration only and are not intended to limit the present invention.

[0024] To further illustrate the technical means and effects adopted by the present invention in order to achieve the intended purpose, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0025] Figure 1 This is a schematic diagram of the 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 for 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 graphics workstation 112, and the real-time processor 111 and the graphics workstation 112 are connected to the autonomous driving domain controller 12 under test.

[0028] The graphics workstation 112 generates simulated traffic scene information and generates corresponding simulated sensor information based on 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 video sensors and ultrasonic radar sensors, and the second simulated sensor information is the perception information of millimeter-wave radar sensors, GNSS sensors, and other sensors.

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

[0030] The real-time processor 111 receives the second simulated sensor information sent by the graphics workstation 112 and transmits the second simulated sensor to the autonomous driving domain controller 12. The real-time processor 111 is also used to receive 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 simulated sensor information, it generates a corresponding associated CAN signal based on the second simulated sensor information and transmits the associated CAN signal and the second simulated sensor information together to the autonomous driving domain controller 12.

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

[0033] Figure 2 This is a schematic diagram of the 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 for 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 graphics workstation 112, and the host computer 117 are connected via a switch 118.

[0036] The graphics workstation 112 is connected to the autonomous driving domain controller 12 through the first Ethernet signal conversion module 114, the DSI3 signal conversion module 115, and the 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 graphics 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 graphics workstation 112 includes a scene simulation module 1121 and a first time synchronization module 1122. When the graphics workstation 112 receives a start test control command sent by the host computer, the scene simulation module 1121 generates simulated traffic scene information and generates corresponding simulated sensor information based on the simulated traffic scene information. The simulated sensor information includes first simulated sensor information and second simulated sensor information. The first simulated sensor information consists of perception information from a video sensor and perception information from an ultrasonic radar sensor. The second simulated sensor information consists of perception information from a millimeter-wave radar sensor and perception information from a GNSS sensor. The graphics workstation 112 transmits the simulated traffic scene information to the first Ethernet signal conversion module 114, transmits the ultrasonic radar sensor's perception information from the first simulated sensor information to the DSI3 signal conversion module 115, transmits the video sensor's perception information from the first simulated sensor information to the video conversion module 116, and transmits the second simulated sensor information to the switch 118; the first time synchronization module 1122 is used to realize the time synchronization between the graphics 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 graphics workstation 112, converts the simulated traffic scene information into an Ethernet signal, and then transmits it to the autonomous driving domain controller 12.

[0040] The DSI3 signal conversion module 115 receives the perception information from the ultrasonic radar sensor sent by the graphics workstation 112, converts the perception information from the ultrasonic radar sensor into a DSI3 signal, and then 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 from the video sensor sent by the graphics workstation 112, converts the perception information 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 based on the perception information and writes the corresponding hardware parameters to a designated location in the register (not shown in the figure) of the video conversion module 116, enabling the autonomous driving domain controller to perform hardware detection based on the hardware parameters stored in the register. When the autonomous driving domain controller's control algorithm detects hardware parameters, simply simulating sensor data is insufficient to meet the activation requirements of such controllers. Writing the specified hardware parameters corresponding to the video sensor or other hardware to a designated location in the register allows the hardware-in-the-loop test system to pass the hardware detection performed by the autonomous driving domain controller.

[0042] In one embodiment, the host computer 7 sends control commands to the hardware simulation module 1162 of the video conversion module 116 via the switch 118 and the graphics workstation 112.

[0043] In one embodiment, the hardware simulation module 1162 writes specified hardware parameters to a designated location in the register of the video conversion module 116 according to the received control command. These specified hardware parameters are generated based on the control command and may include, but are not limited to, hardware parameters of a video sensor, but may also be hardware parameters of other sensors or hardware. For example, the specified hardware parameters could be hardware parameters of an ultrasonic radar sensor.

[0044] In one embodiment, the hardware simulation module 1162 acquires control commands via communication methods such as Bluetooth, Wi-Fi, 4G, and 5G.

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

[0046] In one embodiment, the hardware simulation module 1162 transmits hardware parameters and video signals together to the autonomous driving domain controller 12, or when the hardware simulation module 1162 receives a hardware detection signal sent by the autonomous driving domain controller 12, the hardware simulation module 1162 transmits hardware parameters to 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 graphics 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. 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 realize the time synchronization between the real-time processor 111 and the graphics workstation 112.

[0049] The bus emulation module 1112 of the real-time processor 111 generates the corresponding associated component CAN signal based on the second simulated sensor information, and transmits the second simulated 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 CAN signal and the second simulated sensor information sent by the bus emulation module 1112, converts the associated CAN signal and the second simulated sensor information into corresponding message information, and then transmits them to the autonomous driving domain controller 12.

[0051] The bus signal conversion module 113 includes at least two of the following: a second Ethernet signal conversion module 1131, 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 added or removed according to hardware loopback testing requirements. The conversion modules in the bus signal conversion module 113 include, but are not limited to, the aforementioned conversion modules.

[0052] The bus signal conversion module 113 is connected to the real-time processor 111 via a standard cable. The bus signal conversion module 113 is also connected to the autonomous driving domain controller 12 via a specific cable. The type of the specific cable corresponds to the type of 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; and 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 simulated control based on the received simulated traffic scene information, first simulated sensor information, second simulated sensor information, and 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, generates the 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 graphics workstation 112.

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

[0060] When the bus emulation module 1112 receives the vehicle control information sent by the autonomous driving domain controller 12, it 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 commands to the real-time processor 111 and the graphics workstation 112, and analyze the received vehicle control information to determine the test results.

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

[0064] The hardware-in-the-loop testing system for autonomous driving domain controllers provided by this 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 into the register 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 testing 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, the hardware-in-the-loop testing method for autonomous driving domain controllers includes:

[0067] Step S31: 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.

[0068] Specifically, the host computer sends a test start command to the graphics workstation. Upon receiving the command, the workstation initiates the test, generates simulated traffic scene information, and then generates corresponding simulated sensor information based on this information. The simulated sensor information includes perception information from video sensors, ultrasonic radar sensors, millimeter-wave radar sensors, GNSS sensors, and other sensors. The perception information from video sensors and ultrasonic radar sensors constitutes the first set of simulated sensor information, while the perception information from millimeter-wave radar sensors, GNSS sensors, and other sensors constitutes the second set of 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 from the first simulated sensor information to the video conversion module. The video conversion module obtains the corresponding hardware parameters based on the video sensor information, writes the hardware parameters at a specified location in the register of the video conversion module, and sends the video sensor information to the autonomous driving domain controller after signal format conversion.

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

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

[0073] Specifically, after receiving information from the simulated sensor, the first simulated sensor, the second simulated sensor, and the associated CAN signal, 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 the corresponding associated component CAN signal based on the second simulated sensor information, and then sends the second simulated sensor information and the associated component CAN signal to the autonomous driving domain controller after the signal format is converted through the bus signal conversion module.

[0076] Specifically, after receiving information from the simulated sensor, the first simulated sensor, the second simulated sensor, and the associated CAN signal, 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, when the host computer controls the real-time processor, it receives vehicle control information from the autonomous driving domain controller and sends the vehicle control information to the host computer. The host computer analyzes the received vehicle control information to determine the test result of the autonomous driving domain controller in this test cycle. 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 the test is over and generates a test report based on the 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 based on 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 simulation sensor information based on the vehicle status information.

[0079] Specifically, the bus simulation module of the control real-time processor generates associated sensor information based on vehicle control information, the vehicle dynamics simulation module of the control real-time processor generates vehicle state information based on associated sensor information, and the bus simulation module of the control real-time processor converts the vehicle state information and sends it to the graphics workstation.

[0080] The hardware-in-the-loop testing system and method for autonomous driving domain controllers provided by this 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 into the register 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 testing 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 merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A hardware-in-the-loop testing system for an autonomous driving domain controller, characterized in that, It includes a real-time processor, a graphics workstation, and a video conversion module. The real-time processor is connected to the graphics workstation. Both the real-time processor and the graphics workstation are used to connect to the autonomous driving domain controller under test. The video conversion module is connected to both the graphics workstation and the autonomous driving domain controller. The graphics 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; The video conversion module includes a hardware simulation module, which is used to write specified hardware parameters to a specified location in the register of the video conversion module, so that the autonomous driving domain controller can perform hardware detection based on the hardware parameters.

2. The hardware-in-the-loop test system for an autonomous driving domain controller as described in claim 1, characterized in that, It also includes 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 an autonomous driving domain controller as described in claim 2, characterized in that, The video conversion module includes a video signal conversion module, which is used to convert the video sensor information in the first simulated sensor information and transmit it to the autonomous driving domain controller.

4. The hardware-in-the-loop test system for an autonomous driving domain controller as described in 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 via a standard cable, and the bus signal conversion module is connected to the autonomous driving domain controller via 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 an autonomous driving domain controller as described in claim 1, characterized in that, 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 synchronize the time between the graphics workstation and the real-time processor.

6. The hardware-in-the-loop test system for an autonomous driving domain controller as described in 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 generate associated sensor information based on the vehicle control information when it receives the vehicle control information, and transmit the associated sensor information to the vehicle dynamics simulation module. When it receives the vehicle status information fed back by the vehicle dynamics simulation module, it converts the vehicle status information and transmits 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 synchronize the time between the real-time processor and the graphics workstation.

7. The hardware-in-the-loop test system for an autonomous driving domain controller as described in claim 1, characterized in that, It also includes a host computer, which is connected to the real-time processor and the graphics workstation; The host computer is used to send control commands to the real-time processor and the graphics workstation, and to determine the test results 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: The control graphics workstation generates 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. The control unit transmits the simulated traffic scene information and the first simulation sensor information to the autonomous driving domain controller, and transmits the second simulation sensor information to the real-time processor. The real-time processor is controlled to transmit the received second simulation sensor information to the autonomous driving domain controller and receive vehicle control information fed back by the autonomous driving domain controller. The method of controlling the graphics workstation to transmit the simulated traffic scene information and the first simulation sensor information to the autonomous driving domain controller includes: The control unit transmits the video sensor information from the first simulated 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 location of the register. The hardware parameters are generated by the video conversion module based on the video sensor information, or by the video conversion module based on the received control commands.

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