Digital twinning-based self-closed-loop vehicle lamp test system and test method

Abstract

The invention discloses a digital twinning-based self-closed-loop vehicle lamp test system and test method, and belongs to the field of automatic driving technology test. The test system comprises an entity environment module, an entity sensing assembly, a virtual environment module, a virtual sensing assembly and an interaction control module. The entity environment module is used for providing an entity road, an entity vehicle to be tested and an entity test case scene and carrying out real vehicle test; the entity to-be-tested vehicle receives a behavior instruction sent by the interaction control module and runs along an entity road, an entity environment test is carried out, and the effectiveness of the entity environment is evaluated; the entity sensing assembly is used for sensing vehicle state data of an entity vehicle to be detected in real time. According to the digital twinning-based self-closed-loop vehicle lamp test system and test method provided by the invention, the entity test environment and the virtual modeling environment are established, virtual and real environment interaction verification is adopted, and the running mode of the entity to-be-tested vehicle is tested online, so that the universality is higher, and the test efficiency is higher.

Description

Technical Field

[0001] The present invention relates to a self-closed-loop vehicle lamp testing system and a testing method based on digital twins, and belongs to the field of autonomous driving technology testing. Background Art

[0002] At present, the mainstream way to test vehicle autonomous driving is to install physical sensor equipment on real vehicles and test the decision-making and vehicle operation behavior of real vehicles in various scenarios on public roads. For perception functions, the sensors of the tested vehicles are calibrated and the perception errors are tested. For decision algorithms, physical road scenarios are used to test the automated decision algorithms, and the results of the operation are combined to evaluate and optimize the effects of the autonomous driving decision algorithms. For vehicle performance functions, including the accuracy of vehicle trajectory control, physical scenarios are used to test the various performances of vehicle lateral control, longitudinal control, lateral and longitudinal coordinated control, and the whole vehicle driving system is integrated and tested in combination with sensor information perception and decision-making systems.

[0003] However, the current virtual simulation testing of autonomous driving lacks interactive verification with physical testing. When testing the physical version of autonomous driving, a lot of manual intervention is required, which consumes a lot of manpower costs. Due to the strong coupling effect between sensor equipment and the test environment, only single tests can be carried out for specific scenarios, and the comprehensiveness and versatility of the tests cannot be fully guaranteed. Due to public road testing, it is difficult to test the correlation with strongly related scenarios and the test efficiency is extremely low. At the same time, physical testing requires complex hardware construction and calibration, and the development of test cases is extremely dependent on the experience and knowledge of testers. Therefore, the current reliance on real-car testing of autonomous driving has caused problems such as low test efficiency, excessive manual intervention, and large resource consumption. At the same time, it is difficult to fully verify and evaluate autonomous driving algorithms and functions. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a self-closed-loop vehicle light testing system and testing method based on digital twins. By building a physical testing environment and a virtual modeling environment, and adopting a method of interactive verification between the virtual and real environments and online testing of the operation of the physical vehicle to be tested, the system has stronger versatility and higher testing efficiency.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: On one hand, the present invention provides a self-closed-loop vehicle lamp testing system based on digital twin, which includes a physical environment module, a physical sensor component, a virtual environment module, a virtual sensor component and an interactive control module; The physical environment module is used to provide a physical road, a physical vehicle to be tested and a physical test case scenario to conduct a real vehicle test; and the physical vehicle to be tested receives the behavior instructions sent by the interactive control module and drives along the physical road to conduct a physical environment test and evaluate the effectiveness of the physical environment; The physical sensing component is used to sense the vehicle status data of the physical vehicle to be tested in real time and send it to the interactive control module; The virtual environment module is used to provide virtual roads, virtual test vehicles and virtual test case scenarios, plan virtual test case scenarios, and conduct virtual environment tests; and evaluate the effectiveness of the virtual environment based on different virtual environment parameters and virtual test vehicle status data; The virtual sensor component is used to build a virtual environment and to exchange information with the physical vehicle to be tested through the interactive control module; The interactive control module is used to interactively control the physical environment module and the virtual environment module.

[0006] Another aspect of the present invention provides a testing method for a self-closed-loop vehicle lamp testing system based on digital twins, which comprises the following steps: Step S1: verify the validity of the virtual environment and virtual test case scenarios according to the virtual test requirements, and obtain the virtual test results; Step S2: Execute control operations according to the virtual test results to control the state of the physical vehicle to be tested on the physical road.

[0007] Furthermore, in step S1, according to the virtual test requirements, the validity of the virtual environment and the virtual test case scenario is verified to obtain the virtual test results, which specifically includes the following steps: Step S11, formulating a virtual sensor component according to virtual test requirements and a virtual modeling environment, and determining a virtual modeling environment; Step S12, according to the state of the virtual vehicle to be tested in the virtual sensing component, the interactive control module determines the control range based on the virtual environment; Step S13: determining a control threshold based on the virtual environment, obtaining verification information, and establishing a virtual modeling environment; Step S14: Acquire verification information in the virtual environment module, verify the validity of the virtual test requirements based on the vehicle status data of the physical vehicle to be tested fed back by the physical vehicle monitoring sensor, and obtain the virtual test results.

[0008] Furthermore, in step S11, a virtual sensing component is formulated according to the virtual test requirements and the virtual modeling environment, and the virtual modeling environment is determined, which specifically includes the following steps: Step S111, setting virtual modeling environment parameters and virtual road environment parameters; Step S112: determining a virtual test case scenario according to virtual road environment parameters; Step S113, determining configuration parameters of the virtual sensor component according to the state of the virtual vehicle to be tested and the virtual test case scenario; Step S114: Determine the virtual modeling environment according to the virtual modeling environment parameters and the configuration parameters in the virtual sensing component.

[0009] Further, the step S12, according to the state of the virtual vehicle to be tested in the virtual sensing component, the interactive control module determines the control range based on the virtual environment, specifically includes the following steps: Step S121, determining the perception logic of the vehicle state acquisition model in the virtual sensing component; Step S122, determining a control decision model based on the virtual environment according to the perception logic; Step S123: determining the perception information of the virtual vehicle to be tested of the virtual sensor component according to the vehicle state data of the physical vehicle to be tested, and determining the control range based on the virtual environment according to the running speed parameters of the physical vehicle to be tested.

[0010] Furthermore, in step S13, a control threshold based on a virtual environment is determined, verification information is obtained, and a virtual modeling environment is established, which specifically includes the following steps: Step S131, pre-dividing the control threshold based on the virtual environment into multiple levels of thresholds; Step S132, receiving the vehicle driving state in the virtual vehicle to be tested state, if the virtual vehicle to be tested state is determined to be the first test state, controlling the behavior state of the physical vehicle to be tested according to the first-level threshold; if the vehicle to be tested state is determined to be the second test state, controlling the behavior state of the physical vehicle to be tested according to the second-level threshold.

[0011] Furthermore, in step S2, according to the virtual test result, a control operation is performed to control the state of the physical vehicle to be tested on the physical road, which specifically includes the following steps: Step S21, executing control operations to perform physical road testing according to the virtual test results; Step S22: after completing the physical road test, determine whether the virtual test result meets the physical road test requirements; if it does not meet the physical road test requirements, adjust the virtual modeling environment and update the virtual modeling environment parameters; Step S23, judging the first test state and the second test state according to the state of the physical vehicle to be tested fed back by the physical vehicle monitoring sensor; if the physical vehicle to be tested is in the second test state, adjusting the state operating parameters of the physical vehicle to be tested according to the virtual modeling environment parameters and performing the test; if the state of the physical vehicle to be tested is in the first test state, maintaining the state operating parameters of the physical vehicle to be tested and performing the test.

[0012] Further, in step S22, after the physical road test is completed, it is determined whether the virtual test result meets the physical road test requirements; if it does not meet the physical road test requirements, the virtual modeling environment is adjusted and the virtual modeling environment parameters are updated, which specifically includes the following steps: Step S221, judging whether the virtual test result meets the requirements of the physical road test. If it does not meet the requirements of the physical road test, judging whether there is a logical anomaly between the virtual modeling environment and the real vehicle sensor. If there is an anomaly, adjusting the virtual modeling environment parameters and jumping to step S21; if there is no anomaly, jumping to step S222; Step S222, determine whether the virtual modeling environment parameters meet the current test task. If not, adjust the virtual modeling environment parameters and jump to step S21; if the operating parameters fed back by the physical vehicle monitoring sensor are wrong, adjust the virtual modeling environment parameters, update the virtual modeling environment parameters and jump to step S21.

[0013] Further, in step S222, it is determined whether the virtual modeling environment parameters meet the current test task, which specifically includes the following steps: Determine whether there is a logic anomaly in the control signal sent by the interactive control module received by the vehicle state acquisition model of the virtual sensor component and the control signal sent by the interactive control module received by the virtual vehicle to be tested; If there is no abnormality, the corresponding control operation of the virtual vehicle to be tested is executed for testing; If there is an abnormality, check whether the control threshold matches the state of the current virtual vehicle to be tested to obtain the test result; if they match, it is determined that the virtual road test environment meets the test requirements and the unmatched control threshold is updated.

[0014] Furthermore, in step S222, the virtual modeling environment parameters are adjusted, specifically including the following steps: Determine whether any level threshold value among the multi-level threshold values ​​in the current area block in the virtual modeling environment parameters meets the current real vehicle test result; If the current actual vehicle test result is met, the control operation is executed according to the next level threshold for testing; If it does not meet the current actual vehicle test result, this level threshold is updated to a first-level threshold that meets the current actual vehicle test result, the actual vehicle test result in the virtual modeling environment is executed, and the process jumps to step S21.

[0015] By adopting the above technical solution, the present invention has the following beneficial effects: 1. The present invention relies on the advantage that the virtual environment can be modified at any time to solve the impact of sensor equipment on the overall test of the whole vehicle, and at the same time continuously provides a basis for optimizing the performance parameters of the sensor equipment.

[0016] 2. The present invention can greatly reduce the labor input and improve the efficiency of testing.

[0017] 3. The present invention utilizes a virtual environment to continuously improve the rationality and correctness of the actual vehicle test plan, so that the test system has better versatility and avoids the problem of lengthy test cycles caused by sensor hardware.

[0018] 4. The testing method of the present invention does not require excessive human intervention and adopts a combination of virtual and real methods for interactive verification. Compared with the prior art method of first testing the behavior of independent vehicles and then conducting road tests on the entire vehicle, the present invention is more versatile and has higher testing efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a principle block diagram of the self-closed-loop vehicle lamp testing system based on digital twin of the present invention; Figure 2 This is a flow chart of a testing method for a self-closed-loop vehicle lamp testing system based on digital twins of the present invention. DETAILED DESCRIPTION

[0020] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0021] Embodiment 1 like Figure 1 As shown, this embodiment provides a self-closed-loop vehicle light testing system based on digital twins, which includes a physical environment module, a physical sensor component, a virtual environment module, a virtual sensor component and an interactive control module.

[0022] The physical environment module is used to provide physical roads, physical vehicles to be tested, and physical test case scenarios for real vehicle testing; and the physical vehicle to be tested receives the behavioral instructions sent by the interactive control module and drives along the physical road to perform physical environment testing and evaluate the effectiveness of the physical environment. The physical environment of this embodiment includes a physical road, a physical vehicle to be tested, and a physical environment test component. The physical road is preset with a physical test case scenario. That is, before the test is performed, the physical road needs to be set, including various states such as the route and driving status. For example, the number of physical lanes and whether the corresponding lanes are provided with isolation belts are simulated. At the same time, the physical vehicle to be tested is manually controlled, and the physical vehicle to be tested performs relevant operations according to the physical test case. The physical vehicle to be tested receives the behavioral instructions sent by the interactive control module and drives along the physical road, and the physical environment test component evaluates the effectiveness of the physical environment.

[0023] The physical sensing component is used to sense the vehicle status data of the physical vehicle to be tested in real time and send it to the interactive control module. The physical sensing component of this embodiment is installed on the physical vehicle to be tested. The physical sensing component includes a number of cameras, millimeter wave radars, laser radars, etc. During the test process, these sensors collect the real-time vehicle status data corresponding to the physical vehicle to be tested in the physical test case scenario, and send it to the interactive control module, and display it through the data visualization interface.

[0024] The virtual environment module is used to provide virtual roads, virtual vehicles to be tested, and virtual test case scenarios, plan virtual test case scenarios, and conduct virtual environment tests; and evaluate the effectiveness of the virtual environment based on different virtual environment parameters and virtual vehicle status data. The virtual environment module of this embodiment includes virtual vehicles to be tested, virtual roads, virtual modeling environments, and virtual environment test components. The virtual modeling environment is used to build a virtual road that is consistent with reality. The number of virtual vehicles to be tested in the virtual road is the same as that on the physical road. When controlled by the interactive control module, it is achieved through model training, collection, and parsing of interactive instruction data. Among them, the virtual test component includes a virtual test case scenario and a virtual environment test module, which are used to plan virtual test case scenarios. The virtual test component uses different virtual environment parameters and virtual vehicle status data to evaluate the effectiveness of the virtual environment and verify the effectiveness of the virtual test scenario.

[0025] The virtual sensor component is used to build a virtual environment and exchange information with the physical vehicle to be tested through the interactive control module. The virtual sensor component of this embodiment includes a vehicle state acquisition model, which is used to convert the real-time vehicle state data of the physical vehicle to be tested into the sensor data of the virtual vehicle to be tested, and the sensor data of the virtual vehicle to be tested and the virtual environment parameters are synchronously provided to the virtual modeling environment.

[0026] The interactive control module is used to interactively control the physical environment module and the virtual environment module. In the physical test scene and the virtual test scene, the physical vehicle to be tested is kept consistent with the virtual vehicle to be tested. The interactive operation data of the physical vehicle to be tested and the real-time environment are matched by control, so that the test process and the operation process can be carried out simultaneously, thereby improving the test efficiency.

[0027] The test system of this embodiment can interactively control the virtual vehicle to be tested in the virtual environment and the physical vehicle to be tested in the physical environment, and can perform threshold matching according to the interactive control signal to verify the operation of the corresponding data in the virtual environment. It can perform control operations according to the interactive control threshold, so that the virtual scene can better meet the requirements of the real vehicle test, improve the control of the real vehicle test environment, increase the satisfaction of the test results, and ensure that the verification results are consistent with the test requirements. In a virtual environment, it can improve the execution resource acquisition of the verification test, provide guidance for the real vehicle test, and avoid the test parameter settings being inconsistent with the actual situation.

[0028] Embodiment 2 like Figure 2 As shown, this embodiment provides a testing method for a self-closed-loop vehicle lamp testing system based on digital twins as in Embodiment 1, which comprises the following steps: Step S1: verify the validity of the virtual environment and the virtual test case scenario according to the virtual test requirements, and obtain the virtual test results, which specifically includes the following steps: Step S11, formulating a virtual sensor component according to virtual test requirements and a virtual modeling environment, and determining a virtual modeling environment; Step S12, according to the state of the virtual vehicle to be tested in the virtual sensing component, the interactive control module determines the control range based on the virtual environment; Step S13: determining a control threshold based on the virtual environment, obtaining verification information, and establishing a virtual modeling environment; Step S14: Acquire verification information in the virtual environment module, verify the validity of the virtual test requirements based on the vehicle status data of the physical vehicle to be tested fed back by the physical vehicle monitoring sensor, and obtain the virtual test results.

[0029] In step S11 of this embodiment, a virtual sensor component is formulated according to the virtual test requirements and the virtual modeling environment, and the virtual modeling environment is determined, which specifically includes the following steps: Step S111, setting virtual modeling environment parameters and virtual road environment parameters; Step S112: determining a virtual test case scenario according to virtual road environment parameters; Step S113, determining configuration parameters of the virtual sensor component according to the state of the virtual vehicle to be tested and the virtual test case scenario; Step S114: Determine the virtual modeling environment according to the virtual modeling environment parameters and the configuration parameters in the virtual sensing component.

[0030] Step S12 of this embodiment, according to the state of the virtual vehicle to be tested in the virtual sensing component, the interactive control module determines the control range based on the virtual environment, specifically including the following steps: Step S121, determining the perception logic of the vehicle state acquisition model in the virtual sensing component; Step S122, determining a control decision model based on the virtual environment according to the perception logic; Step S123: determining the perception information of the virtual vehicle to be tested of the virtual sensor component according to the vehicle state data of the physical vehicle to be tested, and determining the control range based on the virtual environment according to the running speed parameters of the physical vehicle to be tested.

[0031] In step S13 of this embodiment, determining a control threshold based on a virtual environment, obtaining verification information, and establishing a virtual modeling environment specifically includes the following steps: Step S131, pre-dividing the control threshold based on the virtual environment into multiple levels of thresholds; Step S132, receiving the vehicle driving state in the virtual vehicle state to be tested, if the virtual vehicle state to be tested is determined to be the first test state, controlling the behavior state of the physical vehicle to be tested according to the first threshold; if the vehicle state to be tested is determined to be the second test state, controlling the behavior state of the physical vehicle to be tested according to the second threshold. The vehicle driving state of this embodiment is formulated according to the test scenario, such as following a vehicle, decelerating, overtaking, changing lanes, etc. The first test state can be set to the following state with a vehicle speed of 60km / h, and the second test state can be set to the overtaking state with a vehicle speed of 100km / h.

[0032] In step S14 of this embodiment, verification information is obtained in the virtual environment module, and the effectiveness of the virtual test requirements is verified according to the physical vehicle monitoring sensor to obtain the virtual test results, which specifically includes the following steps: Step S141, obtaining a simulation of a virtual modeling environment according to virtual modeling environment parameters; Step S142: determine whether there is abnormal data in the simulation of the virtual modeling environment based on the real-time perception data of the physical vehicle monitoring sensor. If there is no abnormal data, the virtual modeling environment test is determined to be valid; if there is abnormal data, the virtual modeling environment test is determined to be invalid.

[0033] Step S2, according to the virtual test results, execute control operations to control the state of the physical vehicle to be tested on the physical road, specifically including the following steps: Step S21, executing control operations to perform physical road testing according to the virtual test results; Step S22: after completing the physical road test, determine whether the virtual test result meets the physical road test requirements; if it does not meet the physical road test requirements, adjust the virtual modeling environment and update the virtual modeling environment parameters; Step S23, judging the first test state and the second test state according to the state of the physical vehicle to be tested fed back by the physical vehicle monitoring sensor; if the physical vehicle to be tested is in the second test state, adjusting the state operating parameters of the physical vehicle to be tested according to the virtual modeling environment parameters and performing the test; if the state of the physical vehicle to be tested is in the first test state, maintaining the state operating parameters of the physical vehicle to be tested and performing the test.

[0034] In step S22 of this embodiment, after the physical road test is completed, it is determined whether the virtual test result meets the physical road test requirements; if it does not meet the physical road test requirements, the virtual modeling environment is adjusted and the virtual modeling environment parameters are updated, which specifically includes the following steps: Step S221, judging whether the virtual test result meets the requirements of the physical road test. If it does not meet the requirements of the physical road test, judging whether there is a logical anomaly between the virtual modeling environment and the real vehicle sensor. If there is an anomaly, adjusting the virtual modeling environment parameters and jumping to step S21; if there is no anomaly, jumping to step S222; Step S222, determine whether the virtual modeling environment parameters meet the current test task. If not, adjust the virtual modeling environment parameters and jump to step S21; if the operating parameters fed back by the physical vehicle monitoring sensor are wrong, adjust the virtual modeling environment parameters, update the virtual modeling environment parameters and jump to step S21.

[0035] Among them, in step S222, judging whether the virtual modeling environment parameters meet the current test task specifically includes the following steps: Determine whether there is a logic anomaly in the control signal sent by the interactive control module received by the vehicle state acquisition model of the virtual sensor component and the control signal sent by the interactive control module received by the virtual vehicle to be tested; If there is no abnormality, the corresponding control operation of the virtual vehicle to be tested is executed for testing; If there is an abnormality, check whether the control threshold matches the state of the current virtual vehicle to be tested to obtain the test result; if they match, it is determined that the virtual road test environment meets the test requirements and the unmatched control threshold is updated.

[0036] Among them, in step S222, the virtual modeling environment parameters are adjusted, which specifically includes the following steps: Determine whether any level threshold value among the multi-level threshold values ​​in the current area block in the virtual modeling environment parameters meets the current real vehicle test result; If the current actual vehicle test result is met, the control operation is executed according to the next level threshold for testing; If it does not meet the current actual vehicle test result, this level threshold is updated to a first-level threshold that meets the current actual vehicle test result, the actual vehicle test result in the virtual modeling environment is executed, and the process jumps to step S21.

[0037] The testing method of this embodiment sets a physical test case scenario according to the actual situation of the road, restores the physical test case scenario on the virtual environment module, and synchronizes the virtual road test with the physical road test.

[0038] However, it is sometimes difficult for virtual reality to completely restore reality. In the process of synchronizing virtual road testing with physical road testing, it is necessary to coordinate the virtual road testing with the physical road testing, which includes the following steps: Determine the control range of the operating state in the virtual modeling environment parameters based on the distribution characteristics of the sensors and the operating speed parameters, and then determine the physical road test cases; According to the actual vehicle status operating parameters, the current operating status in the virtual modeling environment parameters is divided into different area blocks. For the actual vehicle test results, the operating status is extracted, and the actual vehicle test results of the current area block are logically compared with the operating status of the current area block in the virtual modeling environment parameters. If they are different, the virtual modeling environment parameters are adjusted.

[0039] Ultimately, the synchronization between virtual and reality is adjusted to an optimal state.

[0040] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-closed-loop vehicle lamp testing system based on digital twin, characterized by: It includes a physical environment module, a physical sensor component, a virtual environment module, a virtual sensor component and an interactive control module; The physical environment module is used to provide a physical road, a physical vehicle to be tested and a physical test case scenario to conduct a real vehicle test; and the physical vehicle to be tested receives the behavior instructions sent by the interactive control module and drives along the physical road to conduct a physical environment test and evaluate the effectiveness of the physical environment; The physical sensing component is used to sense the vehicle status data of the physical vehicle to be tested in real time and send it to the interactive control module; The virtual environment module is used to provide virtual roads, virtual test vehicles and virtual test case scenarios, plan virtual test case scenarios, and conduct virtual environment tests; and evaluate the effectiveness of the virtual environment based on different virtual environment parameters and virtual test vehicle status data; The virtual sensor component is used to build a virtual environment and to exchange information with the physical vehicle to be tested through the interactive control module; The interactive control module is used to interactively control the physical environment module and the virtual environment module.

2. A testing method for a self-closed-loop vehicle lamp testing system based on digital twins as claimed in claim 1, characterized in that: It includes the following steps: Step S1: verify the validity of the virtual environment and virtual test case scenarios according to the virtual test requirements, and obtain the virtual test results; Step S2: Execute control operations according to the virtual test results to control the state of the physical vehicle to be tested on the physical road.

3. The testing method of the self-closed-loop vehicle lamp testing system based on digital twin according to claim 2 is characterized in that: In step S1, according to the virtual test requirements, the validity of the virtual environment and the virtual test case scenario is verified to obtain the virtual test results, which specifically includes the following steps: Step S11, formulating a virtual sensor component according to virtual test requirements and a virtual modeling environment, and determining a virtual modeling environment; Step S12, according to the state of the virtual vehicle to be tested in the virtual sensing component, the interactive control module determines the control range based on the virtual environment; Step S13: determining a control threshold based on the virtual environment, obtaining verification information, and establishing a virtual modeling environment; Step S14: Acquire verification information in the virtual environment module, verify the validity of the virtual test requirements based on the vehicle status data of the physical vehicle to be tested fed back by the physical vehicle monitoring sensor, and obtain the virtual test results.

4. The testing method of the self-closed-loop vehicle lamp testing system based on digital twin according to claim 3 is characterized in that: In the step S11, a virtual sensor component is formulated according to the virtual test requirements and the virtual modeling environment, and the virtual modeling environment is determined, which specifically includes the following steps: Step S111, setting virtual modeling environment parameters and virtual road environment parameters; Step S112: determining a virtual test case scenario according to virtual road environment parameters; Step S113, determining configuration parameters of the virtual sensor component according to the state of the virtual vehicle to be tested and the virtual test case scenario; Step S114: Determine the virtual modeling environment according to the virtual modeling environment parameters and the configuration parameters in the virtual sensing component.

5. The testing method of the self-closed-loop vehicle lamp testing system based on digital twin according to claim 3 is characterized in that: The step S12, according to the state of the virtual vehicle to be tested in the virtual sensing component, determines the control range based on the virtual environment by the interactive control module, specifically includes the following steps: Step S121, determining the perception logic of the vehicle state acquisition model in the virtual sensing component; Step S122, determining a control decision model based on the virtual environment according to the perception logic; Step S123: determining the perception information of the virtual vehicle to be tested of the virtual sensor component according to the vehicle state data of the physical vehicle to be tested, and determining the control range based on the virtual environment according to the running speed parameters of the physical vehicle to be tested.

6. The testing method of the self-closed-loop vehicle lamp testing system based on digital twin according to claim 3 is characterized in that: In step S13, a control threshold based on a virtual environment is determined, verification information is obtained, and a virtual modeling environment is established, which specifically includes the following steps: Step S131, pre-dividing the control threshold based on the virtual environment into multiple levels of thresholds; Step S132, receiving the vehicle driving state in the virtual vehicle to be tested state, if the virtual vehicle to be tested state is determined to be the first test state, controlling the behavior state of the physical vehicle to be tested according to the first-level threshold; if the vehicle to be tested state is determined to be the second test state, controlling the behavior state of the physical vehicle to be tested according to the second-level threshold.

7. The testing method of the self-closed-loop vehicle lamp testing system based on digital twin according to claim 2, characterized in that: In step S2, according to the virtual test results, a control operation is performed to control the state of the physical vehicle to be tested on the physical road, which specifically includes the following steps: Step S21, executing control operations to perform physical road testing according to the virtual test results; Step S22: after completing the physical road test, determine whether the virtual test result meets the physical road test requirements; if it does not meet the physical road test requirements, adjust the virtual modeling environment and update the virtual modeling environment parameters; Step S23, judging the first test state and the second test state according to the state of the physical vehicle to be tested fed back by the physical vehicle monitoring sensor; if the physical vehicle to be tested is in the second test state, adjusting the state operating parameters of the physical vehicle to be tested according to the virtual modeling environment parameters and performing the test; if the state of the physical vehicle to be tested is in the first test state, maintaining the state operating parameters of the physical vehicle to be tested and performing the test.

8. The testing method of the self-closed-loop vehicle lamp testing system based on digital twin according to claim 7 is characterized in that: In step S22, after the physical road test is completed, it is determined whether the virtual test result meets the physical road test requirements; if it does not meet the physical road test requirements, the virtual modeling environment is adjusted and the virtual modeling environment parameters are updated, which specifically includes the following steps: Step S221, judging whether the virtual test result meets the requirements of the physical road test. If it does not meet the requirements of the physical road test, judging whether there is a logical anomaly between the virtual modeling environment and the real vehicle sensor. If there is an anomaly, adjusting the virtual modeling environment parameters and jumping to step S21; If there is no abnormality, jump to step S222; Step S222, judging whether the virtual modeling environment parameters meet the current test task, if not, adjusting the virtual modeling environment parameters, and jumping to step S21; If the operating parameters fed back by the physical vehicle monitoring sensor are wrong, the virtual modeling environment parameters are adjusted, the virtual modeling environment parameters are updated, and the process jumps to step S21.

9. The testing method of the self-closed-loop vehicle lamp testing system based on digital twin according to claim 8, characterized in that: In step S222, judging whether the virtual modeling environment parameters meet the current test task specifically includes the following steps: Determine whether there is a logic anomaly in the control signal sent by the interactive control module received by the vehicle state acquisition model of the virtual sensor component and the control signal sent by the interactive control module received by the virtual vehicle to be tested; If there is no abnormality, the corresponding control operation of the virtual vehicle to be tested is executed for testing; If there is an abnormality, check whether the control threshold matches the state of the current virtual vehicle to be tested to obtain the test result; if they match, it is determined that the virtual road test environment meets the test requirements and the unmatched control threshold is updated.

10. The testing method of the self-closed-loop vehicle lamp testing system based on digital twin according to claim 8, characterized in that: In step S222, the virtual modeling environment parameters are adjusted, specifically including the following steps: Determine whether any level threshold value among the multi-level threshold values ​​in the current area block in the virtual modeling environment parameters meets the current real vehicle test result; If the current actual vehicle test result is met, the control operation is executed according to the next level threshold for testing; If it does not meet the current actual vehicle test result, this level threshold is updated to a first-level threshold that meets the current actual vehicle test result, the actual vehicle test result in the virtual modeling environment is executed, and the process jumps to step S21.

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