Virtual vehicle test system, method and equipment

Abstract

The invention provides a virtual vehicle test system, method and device. The system comprises a virtual vehicle and a virtual vehicle control module. The virtual vehicle comprises a plurality of virtual vehicle parts and a virtual network unit; the virtual network unit is used for communication among a plurality of virtual vehicle components and communication between a virtual vehicle and the virtual vehicle control module; and the virtual vehicle control module is used for sending a simulation test task to at least one virtual vehicle part through the virtual network unit and receiving a test result fed back by the corresponding virtual vehicle part. On the basis of each virtual vehicle component and the communication connection between the virtual vehicle and the virtual vehicle control module, the virtual vehicle control module can send a simulation test task to the virtual vehicle components to complete function verification of different virtual vehicle components and realize comprehensive test of the whole vehicle. In addition, the virtual vehicle test system can test the virtual vehicle without depending on physical hardware of the vehicle, so that the cost required by vehicle function verification can be reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle simulation technology, and in particular to a virtual vehicle testing system, method and device. Background Art

[0002] With the rapid development of information science and computing science, as well as the growing needs of automobile users, the technology of vehicle intelligence and networking is also constantly improving, from only looking at hardware configuration in the past to today's software-defined cars. In order to verify vehicle functions more comprehensively and safely, real vehicle testing alone is far from enough, so vehicle simulation technology is an indispensable technical reserve today.

[0003] In the related art, a vehicle testing system or method usually tests a specific component in a vehicle alone, which requires or partially relies on physical hardware, increasing the cost of vehicle function verification. Moreover, such a vehicle testing system or method only tests some components of the vehicle and cannot comprehensively test the entire vehicle, thereby reducing the efficiency of vehicle development and testing. Summary of the invention

[0004] The present application provides a virtual vehicle testing system, method and equipment, which can complete the functional verification of different virtual vehicle components, realize comprehensive testing of the entire vehicle, and reduce the cost required for vehicle functional verification.

[0005] The technical solution of this application is implemented as follows:

[0006] An embodiment of the present application provides a virtual vehicle testing system, comprising: a virtual vehicle and a virtual vehicle control module; the virtual vehicle comprises multiple virtual vehicle components and a virtual network unit; the virtual network unit is used for communication between multiple virtual vehicle components, and for communication between the virtual vehicle and the virtual vehicle control module; the virtual vehicle control module is used to send a simulation test task to at least one virtual vehicle component through the virtual network unit, and receive the test results of the corresponding virtual vehicle component based on the feedback of the simulation test task, so as to complete the test of the virtual vehicle.

[0007] According to the above technical means, the virtual vehicle components and the communication connection between the virtual vehicle and the virtual vehicle control module are established through the virtual network unit, so that the virtual vehicle control module can send simulation test tasks to the virtual vehicle components, complete the functional verification of different virtual vehicle components, and realize comprehensive testing of the whole vehicle. In addition, the virtual vehicle test system can realize the testing of the virtual vehicle without relying on the physical hardware of the vehicle, so it can reduce the cost required for vehicle function verification.

[0008] Furthermore, the virtual vehicle components include a virtual domain controller, a virtual sensor and a virtual actuator; the virtual sensor and the virtual domain controller establish a communication connection through a virtual network unit; and the virtual actuator and the virtual domain controller establish a communication connection through a network unit.

[0009] According to the above technical means, communication connections between virtual sensors and virtual domain controllers, as well as between virtual actuators and virtual domain controllers can be established through virtual network units, so that the virtual domain controllers, virtual sensors and virtual actuators can communicate normally, thereby ensuring the smooth progress of the virtual vehicle testing process.

[0010] Furthermore, the simulation test task includes a first simulation test signal for virtual sensor identification; the virtual vehicle control module is used to send the first simulation test signal to the virtual sensor through the virtual network unit to test the virtual sensor.

[0011] According to the above technical means, the virtual vehicle control module sends the first simulation test signal to the virtual sensor through the virtual network unit, so that the first simulation test signal can be smoothly transmitted to the virtual sensor, thereby completing the functional test of the virtual sensor.

[0012] Furthermore, the simulation test task includes a second simulation test signal for controlling the virtual actuator to perform an action; the virtual vehicle control module is also used to send the second simulation test signal to the virtual actuator through the virtual network unit and the virtual domain controller to test the virtual domain controller and / or the virtual actuator.

[0013] According to the above technical means, the virtual vehicle control module sends the second simulation test signal to the virtual actuator through the virtual network unit and the virtual domain controller, which can realize the functional test of the virtual actuator, or the virtual domain controller and the virtual actuator.

[0014] Furthermore, the virtual vehicle control module includes a virtual vehicle software development kit SDK unit, which is used to send a simulation test task to at least one virtual vehicle component and receive a test result of the corresponding virtual vehicle component based on feedback of the simulation test task.

[0015] According to the above-mentioned technical means, data interaction between the virtual vehicle control module and the virtual vehicle can be realized through the virtual car SDK unit, so that the number of simulation test tasks can smoothly reach the virtual vehicle from the virtual vehicle control module, and the test results of the virtual vehicle can be smoothly fed back to the virtual vehicle control module, thereby realizing closed-loop verification of the virtual vehicle functions.

[0016] Furthermore, the simulation test tasks include multiple tasks, and the virtual vehicle control module includes a task scheduling unit, which is used to sort the multiple simulation test tasks and obtain the sorting results, so that the virtual car SDK unit can send each simulation test task to at least one virtual vehicle component in sequence according to the sorting results.

[0017] According to the above-mentioned technical means, multiple simulation test tasks are sorted by the task scheduling unit of the virtual vehicle control module, and the virtual car SDK unit sends each simulation test task to the corresponding virtual vehicle components of the virtual vehicle in sequence, which can make the test of the virtual vehicle proceed in an orderly manner, thereby improving the execution efficiency of the test.

[0018] Furthermore, the virtual vehicle control module includes a data storage unit, which is used to store at least simulation test tasks, sorting results and test results.

[0019] According to the above technical means, the simulation test tasks, sorting results and test results are stored in the data storage unit, which can facilitate the subsequent search for corresponding data from the data storage unit and realize the statistics and data analysis of the simulation test results.

[0020] Furthermore, the virtual vehicle control module includes a simulation signal unit, which is used to generate a simulation test task based on a real vehicle operating condition signal, and the real vehicle operating condition signal includes at least one of an actual vehicle control signal and an actual sensor signal.

[0021] According to the above technical means, the simulation signal unit can generate comprehensive simulation test tasks for virtual vehicle components based on actual vehicle operating condition signals, and the generated simulation test tasks can be used to subsequently implement testing of virtual vehicle components corresponding to actual vehicle components.

[0022] An embodiment of the present application provides a virtual vehicle testing method, which is applied to a virtual vehicle testing system, wherein the virtual vehicle testing system includes: a virtual vehicle and a virtual vehicle control module; the virtual vehicle includes multiple virtual vehicle components and a virtual network unit; the virtual network unit is used for communication between multiple virtual vehicle components, and communication between the virtual vehicle and the virtual vehicle control module; the method includes: the virtual vehicle control module sends a simulation test task to at least one virtual vehicle component through the virtual network unit; the virtual vehicle component performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module.

[0023] According to the above technical means, the virtual vehicle control module sends a simulation test task to at least one virtual vehicle component through a virtual network unit; the virtual vehicle component performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module. In this way, a communication connection is established between the virtual vehicle control module and the virtual vehicle component through the virtual network unit, so that the virtual vehicle control module can verify the functions of different virtual vehicle components, thereby realizing a comprehensive test of the entire vehicle.

[0024] Furthermore, the virtual vehicle component includes a virtual domain controller, a virtual sensor and a virtual actuator; the simulation test task includes a first simulation test signal for virtual sensor identification; the test result includes a first state information after the virtual actuator performs an action; the virtual vehicle component performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module, including: the virtual sensor receives the first simulation test signal sent by the virtual vehicle control module, and identifies the first simulation test signal to obtain an identification result; the virtual sensor sends the identification result to the virtual domain controller through the virtual network unit; the virtual domain controller processes the identification result, and generates a virtual control signal, and sends the virtual control signal to the virtual actuator through the virtual network unit; the virtual actuator performs an action based on the virtual control signal, and feeds back the first state information after the action is performed to the virtual vehicle control module through the virtual domain controller and the virtual network unit.

[0025] According to the above-mentioned technical means, the first simulation test signal sent by the virtual vehicle control module is received by the virtual sensor, and the first simulation test signal is identified to obtain an identification result, and the identification result is sent to the virtual domain controller. The virtual domain controller generates a virtual control signal based on the identification result to control the state of the virtual actuator, thereby realizing the interactive test process between the virtual sensor, the virtual domain controller and the virtual actuator.

[0026] Furthermore, the simulation test task includes a second simulation test signal for controlling the virtual actuator to perform an action; the test result includes second state information after the virtual actuator performs the action; the virtual vehicle component performs a simulation test based on the simulation test task, generates a test result, and feeds back the test result to the virtual vehicle control module, including: the virtual domain controller receives the second simulation test signal, and sends the second simulation test signal to the virtual actuator; the virtual actuator will perform an action based on the second simulation test signal, and feed back the second state information after performing the action to the virtual vehicle control module through the virtual domain controller and the virtual network unit.

[0027] According to the above technical means, the second simulation test signal is received by the virtual domain controller, and the second simulation test signal is sent to the virtual domain executor to execute the action, so as to realize the interactive test between the virtual domain controller and the virtual executor, thereby completing the functional verification of the virtual executor, or the virtual executor and the virtual domain controller.

[0028] Furthermore, the virtual vehicle control module includes a simulation signal unit; the virtual vehicle testing method also includes: the simulation signal unit generates a simulation test task based on a real vehicle operating condition signal; the real vehicle operating condition signal includes at least one of an actual vehicle control signal and an actual sensor signal.

[0029] According to the above technical means, the simulation signal unit can generate comprehensive simulation test tasks for virtual vehicle components based on actual vehicle operating condition signals, so that the virtual vehicle components corresponding to the actual vehicle components can be tested subsequently based on the generated simulation test tasks.

[0030] Furthermore, the simulation test tasks include multiple, the virtual vehicle control module includes a task scheduling unit and a virtual car SDK unit; the virtual vehicle control module sends the simulation test tasks to at least one virtual vehicle component through the virtual network unit, including: the task scheduling unit sorts the multiple simulation test tasks to obtain the sorting results; the virtual car SDK unit sends each simulation test task to at least one virtual vehicle component in sequence based on the sorting results.

[0031] According to the above-mentioned technical means, a plurality of simulation test tasks are sorted by the task scheduling unit of the virtual vehicle control module to obtain a sorting result, and the virtual vehicle SDK unit sends each simulation test task to the corresponding virtual vehicle components of the virtual vehicle in sequence based on the sorting result, thereby ensuring the orderly progress of the virtual vehicle test and improving the execution efficiency of the virtual vehicle test.

[0032] An embodiment of the present application provides a virtual vehicle testing device, which includes a virtual vehicle testing system provided by an embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the structure of a virtual vehicle testing system provided in an embodiment of the present application;

[0034] Figure 2 A flowchart of a virtual vehicle testing method provided in an embodiment of the present application;

[0035] Figure 3 A schematic diagram of the structure of a virtual vehicle control system based on digital twins provided in an embodiment of the present application;

[0036] Figure 4A flowchart of a testing method for a virtual vehicle control system based on digital twins provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of the composition structure of a virtual vehicle testing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0039] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0040] In the following description, reference is made to “some embodiments\other embodiments”, which describe a subset of all possible embodiments, but it can be understood that “some embodiments\other embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0041] In the following description, the terms "first\second" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0043] In the related technology, a vehicle detection method and detection system conduct software testing on the vehicle controller by building a virtualized operating environment, and input the vehicle control signal into the virtual domain controller to generate the test result. This method can only test the function of the virtual domain controller itself by obtaining external working condition signals, but cannot verify the actual control effect through the software logic in the vehicle; a data transmission method and device based on a virtual vehicle is limited to the application of virtual vehicles to simulate physical counterparts such as doors and windows. The source of the vehicle control signal is the cloud rather than the vehicle itself, and the data flow is one-way, which cannot further verify the scenarios that rely on data interaction.

[0044] Based on the problems existing in the related art, the embodiment of the present application provides a virtual vehicle testing system, such as Figure 1 , which is a schematic diagram of the structure of a virtual vehicle testing system provided in an embodiment of the present application, the virtual vehicle testing system 100 includes: a virtual vehicle 101 and a virtual vehicle control module 102 .

[0045] In some embodiments, the virtual vehicle 101 and the virtual vehicle control module 102 can be mounted or run on a vehicle-mounted device or a cloud device. For example, the virtual vehicle 101 and the virtual vehicle control module 101 can be mounted in different containers of a virtual machine of a cloud device, or the virtual vehicle 101 is mounted in a vehicle-mounted device, and the virtual vehicle control module 101 is mounted in a cloud device.

[0046] In some embodiments, the virtual vehicle 101 includes multiple virtual vehicle components 1011 and a virtual network unit 1012. The virtual vehicle components 1011 may be obtained by simulating various components of an actual vehicle, such as virtual seats and virtual air conditioners obtained by simulating seats and air conditioners on a car. The virtual network unit 1012 may be used for communication between multiple virtual vehicle components 1011, and may also be used for communication between the virtual vehicle 101 and the virtual vehicle control module 102.

[0047] In some embodiments, the virtual network unit 1012 can use network protocol conversion to send and receive data. When the communication methods between virtual vehicle components 1011 are different, the virtual network unit 1012 can convert the format of the data or signal transmitted by the sender (such as virtual vehicle component A), and transmit the format-converted data or signal to the receiver (such as virtual vehicle component B), thereby ensuring the smooth data interaction between virtual vehicle component A and virtual vehicle component B; when the communication methods between the virtual vehicle 101 and the virtual vehicle control module 102 are different, the virtual network unit 1012 can convert the format of the data or signal sent by the virtual vehicle 101 (or virtual vehicle control module 102), and transmit the format-converted data or signal to the virtual vehicle control module 102 (or virtual vehicle 101), thereby ensuring the smooth data interaction between the virtual vehicle 101 and the virtual vehicle control 102.

[0048] In some embodiments, the virtual vehicle control module 102 is used to send a simulation test task to at least one virtual vehicle component 1011, and receive a test result of the corresponding virtual vehicle component 1011 based on the simulation test task feedback, so as to complete the test of the virtual vehicle 101. The simulation test task can be a simulation test signal for testing the virtual vehicle component 1011, and the simulation test signal can be generated after simulating the actual vehicle operating condition signal.

[0049] In some embodiments, the virtual vehicle control module 102 can send a simulation test task to a virtual vehicle component in the virtual vehicle 101, or send a simulation test task to multiple virtual vehicle components in the virtual vehicle 101. When sending simulation test tasks to multiple virtual vehicle components 1011, the simulation test tasks can be sent to each virtual vehicle component 1011 synchronously, or each simulation test task can be sent to the corresponding virtual vehicle component 1011 in sequence according to the order determined by the virtual vehicle control module 102.

[0050] In some embodiments, after obtaining the simulation test task, the virtual vehicle component 1011 can be tested based on the simulation test task, and the test result can be fed back to the virtual vehicle control module 102 through the virtual network unit 1012. After receiving the test result, the virtual vehicle control module 102 can determine that the test is successful. Furthermore, the virtual vehicle control module 102 can compare the test result with the preset result stored in its own storage area to determine whether the function of the virtual vehicle component 1011 under test is normal. For example, if the test result is different from the preset result, it indicates that the function of the virtual vehicle component 1011 under test may be abnormal; if the test result is the same as the predicted result, it indicates that the function of the virtual vehicle component 1011 under test is normal.

[0051] In the embodiment of the present application, the virtual vehicle test system includes a virtual vehicle 101 and a virtual vehicle control module 102. The virtual vehicle 101 includes multiple virtual vehicle components 1011 and a virtual network unit 1012. The virtual network unit 1012 establishes a communication connection between each virtual vehicle component 1011 and the virtual vehicle 101 and the virtual vehicle control module 102, so that the virtual vehicle control module 102 can send a simulation test task to the virtual vehicle component 1011, complete the functional verification of different virtual vehicle components 1011, and realize a comprehensive test of the whole vehicle. In addition, the virtual vehicle test system can realize the test of the virtual vehicle without relying on the physical hardware of the vehicle, so the cost required for vehicle function verification can be reduced.

[0052] In some embodiments of the present application, the virtual vehicle component 1011 includes a virtual domain controller, a virtual sensor, and a virtual actuator; the virtual domain controller, the virtual sensor, and the virtual actuator can all be created by emulating or simulating the actual physical components of the vehicle. The virtual domain controller, the virtual sensor, and the virtual actuator can all include one or more.

[0053] In some embodiments, the virtual domain controller may be a virtual cockpit domain controller obtained by simulating the vehicle's cockpit domain controller, may be a virtual chassis domain controller obtained by simulating the vehicle's chassis domain controller, may be a virtual power domain controller obtained by simulating the vehicle's power domain controller, etc.; the virtual sensor may be a virtual temperature sensor obtained by simulating the vehicle's temperature sensor and reverse driving, may be a virtual displacement sensor obtained by simulating the vehicle's displacement sensor, etc.; the virtual actuator may be a virtual door obtained by simulating the vehicle's door, and the virtual actuator may be a virtual seat obtained by simulating the vehicle's seat, etc.

[0054] In some embodiments, after the virtual vehicle 101 is created in the container of the virtual machine, the process of creating a virtual domain controller can be to import the operating system and basic software of the corresponding physical controller into the container, and adopt different integration strategies for domain controllers with different functions. For example, the cockpit domain controller is mainly used to integrate entertainment software, and should be integrated using the Android operating system; the driving domain controller is mainly vehicle control-related applications, and is integrated using the Linux operating system. The above integration strategy can provide basic capabilities for subsequent software function testing.

[0055] In some embodiments, the virtual sensor and the virtual domain controller establish a communication connection through the virtual network unit 1012; the virtual executor and the virtual domain controller establish a communication connection through the virtual network unit 1012. The virtual domain controller can control the virtual sensor and the virtual executor, obtain the data recognized by the virtual sensor, and the status information of the virtual executor, and the communication mode of the virtual sensor and the communication mode of the virtual domain controller may be different, and the communication mode of the virtual executor and the virtual domain controller may also be different. Therefore, the conversion of the transmission data format can be realized through the virtual network unit 1012, so that the virtual domain controller and the virtual sensor, as well as the virtual domain controller and the virtual executor can communicate normally.

[0056] Exemplarily, the virtual actuator and the virtual sensor may communicate using CAN signals, while the virtual domain controller may communicate using Ethernet. Therefore, the virtual network unit 1012 can be used to achieve bidirectional conversion of signal or data formats, so that the signal sent by the virtual sensor to the virtual domain controller can be received and recognized by the virtual domain controller, and the signal sent by the virtual actuator to the virtual domain controller can also be received and recognized by the virtual domain controller.

[0057] It can be understood that the virtual network unit 1012 can establish a communication connection between the virtual sensor and the virtual domain controller, as well as the virtual actuator and the virtual domain controller, so that the virtual domain controller, the virtual sensor and the virtual actuator can communicate normally, thereby ensuring the smooth progress of the test process of the virtual vehicle 101.

[0058] In some embodiments of the present application, the simulation test task includes a first simulation test signal for virtual sensor identification. The first simulation test signal can be created by the virtual vehicle control module 102 based on a signal that can be identified or detected by an actual sensor. For example, if the virtual sensor is a virtual temperature sensor obtained by simulating a temperature sensor, the first simulation test signal can be temperature; if the virtual sensor is a virtual acceleration sensor obtained by simulating an acceleration sensor, the first simulation test signal can be acceleration.

[0059] In some embodiments, after creating the first simulation test signal, the virtual vehicle control module 102 can send the first simulation test signal to the virtual sensor through the virtual network unit 1012 to test the virtual sensor. After receiving the first simulation test signal, the virtual sensor can recognize the first simulation test signal and feed back the recognition result to the virtual vehicle control module 102. Based on the recognition result, it can be determined whether the function of the virtual sensor is normal.

[0060] In some embodiments, the virtual vehicle control module 102 can send the first simulation test signal directly to the virtual sensor to test the function of the sensor; in other embodiments, the virtual vehicle control module 102 can also send the first simulation test signal to the virtual domain controller, and then the virtual domain controller sends the first simulation test signal to the corresponding virtual sensor.

[0061] It can be understood that the virtual vehicle control module 102 sends the first simulation test signal to the virtual sensor through the virtual network unit 1012, so that the first simulation test signal can be smoothly transmitted to the virtual sensor, thereby completing the functional test of the virtual sensor.

[0062] In some embodiments of the present application, the simulation test task includes a second simulation test signal for controlling the virtual actuator to perform an action. The second simulation test signal may be generated by the virtual vehicle control module 102 based on the control signal of the actual vehicle actuator. For example, if the virtual actuator is a virtual door obtained by simulating a vehicle door, the second simulation test signal may be a door opening control signal or a door closing control signal; if the virtual actuator is a virtual window obtained by simulating a vehicle window and its actuator components, the second simulation test signal may be a window opening control signal, a window closing control signal, etc.

[0063] In some embodiments, after creating the second simulation test signal, the virtual vehicle control module 102 can send the second simulation test signal to the virtual domain controller through the virtual network unit 1012 and the virtual domain controller to test the virtual domain controller and / or the virtual actuator. After receiving the second simulation test signal, the virtual domain controller can analyze the second simulation signal to determine the target virtual actuator to be tested, and then send the second simulation test signal to the target virtual actuator. After the target virtual actuator performs an action based on the second simulation test signal, the execution result of the target virtual actuator can be used to determine whether the function of the target virtual actuator is normal, or whether the functions of the target virtual actuator and the virtual domain controller are normal.

[0064] In some embodiments, the virtual network unit 1012 may include multiple ones, and the virtual vehicle control module 102 may send the second simulation test signal to the virtual domain controller through the virtual network unit 1012A, and the virtual domain controller then sends the second simulation test signal to the corresponding virtual actuator through the virtual network unit 1012B.

[0065] It is understandable that the virtual vehicle control module 102 sends the second simulation test signal to the virtual actuator through the virtual network unit 1012 and the virtual domain controller, so as to implement a functional test on the virtual actuator, or the virtual domain controller and the virtual actuator.

[0066] In some embodiments of the present application, the virtual vehicle control module 102 includes a virtual vehicle software development kit (SDK) unit, which is used to send simulation test tasks to at least one virtual vehicle component 1011 and receive test results of the corresponding virtual vehicle component 1011 based on the simulation test task feedback.

[0067] In some embodiments, the virtual car SDK unit may include multiple module interfaces, and data may be sent to the virtual vehicle 101 through each module interface. The data may include a virtual vehicle 101 startup instruction, a simulation test task, etc. In implementation, the virtual car SDK unit may first send a virtual vehicle 101 startup instruction to the virtual car, and then after receiving the startup confirmation information sent by the virtual vehicle 101, it may send a simulation test task to the virtual vehicle 101.

[0068] In some embodiments, the virtual car SDK unit can also receive data sent by the virtual vehicle 101, such as startup status information, fault information, test results of virtual actuators, test results of virtual sensors, test results of virtual domain controllers, etc. fed back by the virtual vehicle 101.

[0069] In some embodiments, after the virtual car SDK unit sends a simulation test task to the virtual vehicle 101, it can convert the format of the data corresponding to the simulation test task through the virtual network unit 1012 of the virtual vehicle 101, thereby obtaining data that can be recognized by the virtual domain controller or virtual sensor, so as to facilitate testing of the virtual domain controller, or virtual actuator, or virtual sensor.

[0070] It can be understood that the data interaction between the virtual vehicle control module 102 and the virtual vehicle 101 can be realized through the virtual car SDK unit, so that the number of simulation test tasks can smoothly reach the virtual vehicle 101 from the virtual vehicle control module 102, and the test results of the virtual vehicle 101 can be smoothly fed back to the virtual vehicle control module 102, thereby realizing closed-loop verification of the functions of the virtual vehicle 101.

[0071] In some embodiments of the present application, the virtual vehicle control module 102 includes a simulation signal unit, which can be used to generate a simulation test task based on a real vehicle operating condition signal, and the real vehicle operating condition signal includes at least one of an actual vehicle control signal and an actual sensor signal. The actual vehicle control signal can be a control signal for an actuator of the actual vehicle, for example, the actual vehicle control signal can be to open a door, turn off an air conditioner, etc.; the actual sensor signal can be a signal that can be detected by a sensor of the actual vehicle, for example, the actual sensor signal can be a temperature that can be detected by a temperature sensor, or an acceleration that can be detected by a speed sensor, etc.

[0072] In some embodiments, the simulation signal unit can create a variety of simulation signal test tasks based on signals that can be detected by different sensors, signals that can be recognized by the virtual domain controller, and signals that can be recognized by the virtual actuator. Different test tasks can be associated with corresponding virtual vehicle components 1011. For example, the identification information of the virtual vehicle component 1011 is added to the corresponding simulation test task, so that after receiving the simulation test task, the virtual vehicle 101 can determine the corresponding virtual vehicle component 1011 according to the identification information in the simulation test task, thereby realizing the testing of different virtual vehicle components 1011.

[0073] It can be understood that the simulation signal unit can generate a comprehensive simulation test task of the virtual vehicle component 1011 based on the actual vehicle operating condition signal, and the generated simulation test task can be used to subsequently implement the test of the virtual vehicle component 1011 corresponding to the actual vehicle component.

[0074] In some embodiments of the present application, the simulation test task may include multiple tasks, and the virtual vehicle control module 102 includes a task scheduling unit. The task scheduling unit can be used to sort the multiple simulation test tasks to obtain a sorting result.

[0075] In some embodiments, the task scheduling unit may sort the multiple simulation test tasks according to the priority of the simulation test tasks. For example, if the priority of the test on the virtual domain controller is higher than the priority of the test on the virtual sensor, the simulation test task corresponding to the virtual domain controller may be sorted before the simulation test task corresponding to the virtual sensor;

[0076] In other embodiments, multiple simulation test tasks can also be sorted according to the association relationship between the simulation test tasks. For example, if the test of the virtual domain controller includes the test of the user interface (UserInterface, UI) interface including the door status, and the UI interface is associated with the virtual actuator corresponding to the door, the simulation test task of the UI interface including the door status can be sorted before the simulation test task of the virtual actuator corresponding to the door.

[0077] In some embodiments, after the task scheduling unit determines the sorting results of multiple simulation test tasks, the virtual car SDK unit can send each simulation test task to the corresponding virtual vehicle component 1011 in sequence according to the sorting results, thereby realizing the testing of different virtual vehicle components 1011.

[0078] It can be understood that by sorting multiple simulation test tasks through the task scheduling unit of the virtual vehicle control module 102, the virtual car SDK unit sends each simulation test task to the corresponding virtual vehicle component 1011 of the virtual vehicle 101 in sequence, which can make the test of the virtual vehicle 101 proceed in an orderly manner, thereby improving the execution efficiency of the test.

[0079] In some embodiments of the present application, the virtual vehicle control module 102 includes a data storage unit, which is used to store at least simulation test tasks, sorting results, and test results.

[0080] In some embodiments, after the simulation signal unit generates multiple simulation test tasks, it can transfer the various simulation test tasks to the data storage unit for storage; after the task scheduling unit sorts the multiple simulation test tasks and obtains the sorting results, it can send the sorting results and the analysis logic in the sorting process to the data storage unit for storage; after the virtual car SDK unit obtains the test results fed back by the virtual vehicle 101, it can also send the test results to the data storage unit for storage.

[0081] In some embodiments, the data storage unit may also store the start-up instruction sent by the virtual car SDK unit to the virtual vehicle 101, and the response signal fed back by the virtual vehicle 101 based on the start-up instruction. The corresponding signal may include response information fed back by the virtual vehicle 101 on whether the start-up instruction is received, and the start-up status information of the virtual vehicle 101 after performing the start-up operation, etc.

[0082] It can be understood that storing the simulation test tasks, the sorting results and the test results in the data storage unit can facilitate subsequent search for corresponding data from the data storage unit to achieve statistics and data analysis of the simulation test results.

[0083] In the embodiment of the present application, the virtual vehicle 101 test system includes a virtual vehicle 101 and a virtual vehicle control module 102. The virtual vehicle 101 includes multiple virtual vehicle components 1011 and a virtual network unit 1012. The virtual network unit 1012 establishes a communication connection between each virtual vehicle component 1011 and the virtual vehicle 101 and the virtual vehicle control module 102, so that the virtual vehicle control module 102 can send a simulation test task to the virtual vehicle component 1011, complete the functional verification of different virtual vehicle components 1011, and realize a comprehensive test of the whole vehicle. In addition, the virtual vehicle 101 test system can realize the test of the virtual vehicle 101 without relying on the physical hardware of the vehicle, so the cost required for vehicle function verification can be reduced.

[0084] The present application provides a virtual vehicle testing method, which can be applied to the virtual vehicle system provided by the present application, wherein the virtual vehicle system comprises: a virtual vehicle 101 and a virtual vehicle control module 102; the virtual vehicle 101 comprises a plurality of virtual vehicle components 1011 and a virtual network unit 1012; the virtual network unit 1012 is used for communication between the plurality of virtual vehicle components 1011, and / or communication between the virtual vehicle 101 and the virtual vehicle control module 102, such as Figure 2 As shown, the virtual vehicle testing method includes:

[0085] S201. A virtual vehicle control module sends a simulation test task to at least one virtual vehicle component through a virtual network unit.

[0086] In some embodiments, the virtual vehicle control module 102 may send a simulation test task to a virtual vehicle component 1011 of the virtual vehicle 101 through the virtual network unit 1012, or may send a simulation test task to multiple virtual vehicle components 1011 of the virtual vehicle 101. The virtual vehicle component 1011 may be a vehicle component obtained by simulating or emulating a physical component on a real vehicle, and different vehicle components may implement different functions.

[0087] In some embodiments, the simulation test task corresponding to a virtual vehicle component 1011 may include one or more. When the simulation test task corresponding to a virtual vehicle component 1011 includes multiple tasks, each simulation test task can be sent to the corresponding virtual vehicle component 1011 in sequence according to the sequence of the test tasks determined by the virtual vehicle control module 102.

[0088] In some embodiments, a simulation test task may be used to test multiple virtual vehicle components 1011, that is, the process of using a simulation test task to test may involve the interaction of multiple virtual vehicle components 1011. In this case, the simulation test task can be sent to the virtual vehicle component 1011 corresponding to the start stage of the interaction according to the interaction process of the multiple virtual vehicle components 1011. For example, if the multiple virtual vehicle components 1011 include a virtual domain controller and a virtual door, the virtual domain controller includes a UI interface for displaying the status of the virtual door. By triggering the virtual control in the UI interface, the status of the virtual door can be controlled. Therefore, the simulation test task can be sent to the virtual domain controller first. After receiving the simulation test task, the virtual domain controller starts the test process to complete the interaction with the virtual vehicle component 1011, thereby realizing the simulation test of the virtual domain controller and the virtual door.

[0089] S202 , the virtual vehicle components perform simulation tests based on the simulation test tasks, generate test results, and feed back the test results to the virtual vehicle control module.

[0090] In some embodiments, the test results may include the state information and data information of the virtual vehicle component 1011 during the operation based on the simulation test task, as well as the state information and data information after the operation is completed. The state information may include the state of the virtual vehicle component 1011, such as the opening state of the virtual car window, the inclination of the backrest of the virtual seat, etc.; the data information may be a signal generated or triggered by the virtual vehicle component 1011, such as a data reception confirmation signal generated by the virtual domain controller based on the simulation test task, a virtual vehicle control signal generated based on the simulation test signal, etc.

[0091] In some embodiments, after receiving the simulation test task sent by the virtual vehicle control module 102, the virtual vehicle component 1011 can perform a test based on the simulation test task, obtain a test result, and feed the test result back to the virtual vehicle control module 102 through the virtual network unit 1012. After receiving the test result, the virtual vehicle control module 102 can analyze the test result to determine whether the test is successful. The virtual vehicle control module 102 can compare the test result with the preset result stored in its own storage area to determine whether the function of the tested virtual vehicle component 1011 is normal. For example, if the test result is different from the preset result, it means that the function of the tested virtual vehicle component 1011 may be abnormal; if the test result is the same as the predicted result, it means that the function of the tested virtual vehicle component 1011 is normal.

[0092] In the embodiment of the present application, the virtual vehicle control module 102 sends a simulation test task to at least one virtual vehicle component 1011 through the virtual network unit 1012; the virtual vehicle component 1011 performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module 102. In this way, a communication connection is established between the virtual vehicle control module 102 and the virtual vehicle component 1011 through the virtual network unit 1012, so that the virtual vehicle control module 102 can verify the functions of different virtual vehicle components 1011, thereby achieving a comprehensive test of the entire vehicle.

[0093] In some embodiments of the present application, the virtual vehicle component 1011 includes a virtual domain controller, a virtual sensor, and a virtual actuator; the simulation test task includes a first simulation test signal for virtual sensor identification; and the test result includes first state information after the virtual actuator performs an action. Based on this, the virtual vehicle component 1011 performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module 102, that is, the above step S202 can be implemented by the following steps S2021A to S2024A, and each step is described below.

[0094] S2021A, the virtual sensor receives the first simulation test signal sent by the virtual vehicle control module 102, and identifies the first simulation test signal to obtain an identification result.

[0095] In some embodiments, the first simulated test signal may be created by the virtual vehicle control module 102 based on a signal that can be recognized or detected by an actual sensor. For example, if the virtual sensor is a virtual temperature sensor obtained by simulating a temperature sensor, the first simulated test signal may be temperature; if the virtual sensor is a virtual acceleration sensor obtained by simulating an acceleration sensor, the first simulated test signal may be acceleration.

[0096] In some embodiments, after creating the first simulation test signal, the virtual vehicle control module 102 can send the first simulation test signal to the virtual sensor through the virtual network unit 1012 to test the virtual sensor. After receiving the first simulation test signal, the virtual sensor can identify the first simulation test signal and obtain an identification result.

[0097] In some embodiments, the virtual vehicle control module 102 can send the first simulation test signal directly to the virtual sensor to test the function of the sensor; in other embodiments, the virtual vehicle control module 102 can also send the first simulation test signal to the virtual domain controller, and then the virtual domain controller sends the first simulation test signal to the corresponding virtual sensor.

[0098] S2022A. The virtual sensor sends the identification result to the virtual domain controller through the virtual network unit 1012.

[0099] In some embodiments, after testing the virtual sensor based on the first simulation test signal and obtaining an identification result, the virtual sensor can convert the identification result into a data format through the virtual network unit 1012 to obtain a first signal that can be recognized by the virtual domain controller, and then send the first signal to the virtual domain controller so that the virtual domain controller can perform analysis based on the first signal.

[0100] S2023A. The virtual domain controller processes the identification result and generates a virtual control signal, and sends the virtual control signal to the virtual executor through the virtual network unit 1012.

[0101] In some embodiments, after obtaining the recognition result of the virtual sensor, the virtual domain controller can analyze the recognition result to confirm whether the recognition result is incorrect. If the virtual domain controller determines that the recognition result is correct, it can generate a virtual control signal for the virtual executor based on the recognition result, and convert the format of the virtual control signal through the virtual network unit 1012 to obtain a second signal that can be recognized by the virtual executor. After obtaining the second signal, the virtual executor can perform corresponding actions based on the second signal.

[0102] In some embodiments, if the virtual domain controller determines that the recognition result of the virtual sensor is incorrect, the error information can be fed back to the virtual vehicle control module 102, so that the virtual vehicle control module 102 can analyze the error information fed back by the virtual domain controller to determine whether the function of the virtual sensor or the virtual domain controller is normal.

[0103] S2024A, the virtual actuator executes an action based on the virtual control signal, and feeds back the first state information after executing the action to the virtual vehicle control module 102 through the virtual domain controller and the virtual network unit 1012.

[0104] In some embodiments, after the virtual actuator receives the virtual control signal sent by the virtual domain controller, it can respond to an action based on the virtual control signal, and feed back the first state information after executing the action to the virtual domain controller through the virtual network unit 1012, which is then sent to the virtual vehicle control module 102 by the virtual domain controller through the virtual network unit 1012.

[0105] In some embodiments, the virtual network unit 1012 can convert the first status information into first data that can be recognized by the virtual domain controller. Then, when the virtual domain controller sends the first data to the virtual vehicle control module 102, the virtual network unit 1012 can convert the format of the first data to obtain second data that can be recognized by the virtual vehicle control module 102, so that the virtual vehicle control module 102 can analyze the second data after obtaining the second data.

[0106] It can be understood that the first simulation test signal sent by the virtual vehicle control module 102 is received by the virtual sensor, and the first simulation test signal is identified to obtain an identification result, and the identification result is sent to the virtual domain controller, and the virtual domain controller generates a virtual control signal based on the identification result to control the state of the virtual actuator, thereby realizing an interactive test process between the virtual sensor, the virtual domain controller and the virtual actuator.

[0107] In some embodiments of the present application, the simulation test task includes a second simulation test signal for controlling the virtual actuator to perform an action; and the test result includes second state information after the virtual actuator performs the action. Based on this, the virtual vehicle component 1011 performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module 102, that is, the above step S202 can be implemented by the following steps S2021B to S2022B, and each step is described below.

[0108] S2021B. The virtual domain controller receives the second simulation test signal and sends the second simulation test signal to the virtual executor.

[0109] In some embodiments, the second simulation test signal may be generated by the virtual vehicle control module 102 based on the control signal of the actual vehicle actuator. For example, if the virtual actuator is a virtual door obtained by simulating a vehicle door, the second simulation test signal may be a door opening control signal or a door closing control signal; if the virtual actuator is a virtual window obtained by simulating a vehicle window and its actuator, the second simulation test signal may be a window opening control signal, a window closing control signal, etc.

[0110] In some embodiments, after creating the second simulation test signal, the virtual vehicle control module 102 can send the second simulation test signal to the virtual domain controller through the virtual network unit 1012 and the virtual domain controller to test the virtual domain controller and / or the virtual actuator. After receiving the second simulation test signal, the virtual domain controller can analyze the second simulation signal to determine the target virtual actuator to be tested, and then send the second simulation test signal to the target virtual actuator.

[0111] S2022B, the virtual actuator will perform an action based on the second simulation test signal, and feed back the second state information after the execution of the action to the virtual vehicle control module 102 through the virtual domain controller and the virtual network unit 1012.

[0112] In some embodiments, after obtaining the second simulation test signal, the virtual actuator can perform an action based on the second simulation test signal, and convert the format of the second state information after executing the action through the virtual network unit 1012, obtain the third information that can be recognized by the virtual domain controller and send it to the virtual domain controller, and then the virtual domain controller sends the third information to the virtual network unit 1012 for format conversion to obtain the fourth information that can be recognized by the virtual vehicle control module 102, and finally send the fourth information to the virtual vehicle control module 102 for analysis.

[0113] It can be understood that by receiving the second simulation test signal through the virtual domain controller and sending the second simulation test signal to the virtual domain executor to perform an action, the interactive test of the virtual domain controller and the virtual executor is realized, thereby completing the functional verification of the virtual executor, or the virtual executor and the virtual domain controller.

[0114] In some embodiments of the present application, the virtual vehicle control module 102 includes a simulation signal unit, and the virtual vehicle 101 testing method further includes step S301, which is described below.

[0115] S301, the simulation signal unit generates a simulation test task based on the actual vehicle operating condition signal.

[0116] In some embodiments, the actual vehicle operating condition signal includes at least one of an actual vehicle control signal and an actual sensor signal. The actual vehicle control signal may be a control signal for an actuator of the actual vehicle, for example, the actual vehicle control signal may be to open a door, turn off an air conditioner, etc.; the actual sensor signal may be a signal detectable by a sensor of the actual vehicle, for example, the actual sensor signal may be a temperature detectable by a temperature sensor, an acceleration detectable by a speed sensor, etc.

[0117] In some embodiments, the simulation signal unit can create a variety of simulation signal test tasks based on signals that can be detected by different sensors, signals that can be recognized by the virtual domain controller, and signals that can be recognized by the virtual actuator. Different test tasks can be associated with corresponding virtual vehicle components 1011. For example, the identification information of the virtual vehicle component 1011 is added to the corresponding simulation test task, so that after receiving the simulation test task, the virtual vehicle 101 can determine the corresponding virtual vehicle component 1011 according to the identification information in the simulation test task, thereby realizing the testing of different virtual vehicle components 1011.

[0118] It is understandable that the simulation signal unit can generate a comprehensive simulation test task of the virtual vehicle component 1011 based on the actual vehicle operating condition signal, so that the virtual vehicle component 1011 corresponding to the actual vehicle component can be tested based on the generated simulation test task.

[0119] In some embodiments of the present application, the simulation test task includes multiple tasks, and the virtual vehicle control module 102 includes a task scheduling unit and a virtual vehicle SDK unit. Based on this, the virtual vehicle control module 102 sends the simulation test task to at least one virtual vehicle component 1011 through the virtual network unit 1012, that is, the above step S201 can be implemented through the following steps S2011 to S2012, and each step is described below.

[0120] S2011. The task scheduling unit sorts multiple simulation test tasks to obtain a sorting result.

[0121] In some embodiments, the task scheduling unit can sort multiple simulation test tasks according to the priority of the simulation test tasks. For example, if the priority of testing the virtual domain controller is higher than the priority of testing the virtual sensor, the simulation test task corresponding to the virtual domain controller can be sorted before the simulation test task corresponding to the virtual sensor.

[0122] In other embodiments, multiple simulation test tasks can also be sorted according to the association relationship between the simulation test tasks. For example, if the test of the virtual domain controller includes the test of the UI interface including the door status, and the UI interface is associated with the virtual actuator corresponding to the door, the simulation test task of the UI interface including the door status can be sorted before the simulation test task of the virtual actuator corresponding to the door.

[0123] S2012. The virtual vehicle SDK unit sends each simulation test task to at least one virtual vehicle component 1011 in sequence based on the sorting result.

[0124] In some embodiments, after the task scheduling unit determines the sorting results of multiple simulation test tasks, the virtual car SDK unit can send each simulation test task to each virtual vehicle component 1011 in sequence according to the sorting results, thereby realizing the testing of different virtual vehicle components 1011.

[0125] It can be understood that the task scheduling unit of the virtual vehicle control module 102 sorts multiple simulation test tasks to obtain a sorting result, and the virtual car SDK unit sends each simulation test task to the corresponding virtual vehicle component 1011 of the virtual vehicle 101 in sequence based on the sorting result, which can ensure the orderly progress of the virtual vehicle 101 test and improve the execution efficiency of the virtual vehicle 101 test.

[0126] Next, the implementation process of the application embodiment in the actual application scenario is introduced.

[0127] The embodiment of the present application provides a virtual vehicle control system based on digital twins, such as Figure 3 As shown, the virtual vehicle control system 400 based on digital twins includes: a virtual vehicle 401 (equivalent to the “virtual vehicle 101 ” in other embodiments) and a virtual vehicle control 402 (equivalent to the “virtual vehicle control module 102 ” in other embodiments).

[0128] In some embodiments, the virtual vehicle 401 can be a software operating environment that can accurately simulate the hardware of the real vehicle. In the virtual test vehicle 401, virtual devices such as virtual sensors, virtual ECUs, virtual networks and other modules are abstracted according to the functions of different physical hardware of the real vehicle. The operating environment of the entire virtual vehicle 401 can be deployed in the cloud. By equipping the virtual vehicle with the same operating system and basic software as the real vehicle, a software and hardware operating environment that is completely consistent with the real vehicle is provided to developers and testers. Virtual vehicle control 402 mainly provides comprehensive operating environment support for the virtual vehicle 401, aiming to achieve efficient and accurate testing and verification of vehicle functions.

[0129] In some embodiments, the virtual vehicle 401 can uniformly manage and allocate the configurable devices of the virtual vehicle to provide basic capabilities for subsequent simulation operations. The virtual vehicle 401 has virtual components of different models and brands, and some of the parameter settings can be customized to achieve the effect of vehicle customization, thereby meeting the detailed testing of different models and different configurations of the same model.

[0130] In some embodiments, Figure 3 As shown, the virtual components of the virtual vehicle include a virtual network 4011 (equivalent to the "virtual network unit 1012" in other embodiments, a virtual domain controller 4012 (equivalent to the "virtual domain controller" in other embodiments), a virtual sensor 4013, and a virtual counterpart 4014 (equivalent to the "virtual actuator" in other embodiments). The virtual network 4011 provides the ability for communication between virtual vehicle devices, providing a stable and reliable basic support for the coordinated operation of the entire virtual vehicle 401 control system. The virtual domain controller 4012 assumes the responsibility of the virtual vehicle 401 drive computer unit (DCU) and the electronic control unit (Electronic Control The virtual vehicle 401 plays a key role in the control unit (ECU) chip, providing the virtual vehicle 401 with operating system and software capabilities, making the virtual vehicle 401 more intelligent and efficient. The virtual sensor 4013 provides the virtual vehicle 401 with simulated environment perception capabilities, allowing the virtual vehicle 401 to interact with the environment as if it were real, including high-precision maps, cameras, laser radars, etc. The virtual counterpart 4014 is mainly used to support the reception and transmission of virtual vehicle network messages to simulate the network interaction of real vehicles, including message transceivers and message viewers. Through this module, a complete virtual vehicle configuration can be realized, thereby achieving the effect of simulating various software and hardware in the real vehicle.

[0131] In some embodiments, the virtual vehicle control module 402 is mainly used to interact with the virtual vehicle 401, transmit scheduling tasks, monitor test results, etc. Figure 3As shown, the virtual vehicle control 402 is mainly composed of a virtual vehicle SDK 4021 (equivalent to the "virtual vehicle SDK unit" in other embodiments), a task scheduling module 4022 (equivalent to the "task scheduling unit" in other embodiments), a simulation signal module 4023 (equivalent to the "simulation signal unit" in other embodiments) and a data storage module 4024 (equivalent to the "data storage unit" in other embodiments). Among them, the virtual vehicle SDK 4021 is mainly used to communicate with the virtual vehicle 401, send the vehicle control signal to the virtual vehicle 401, and receive the response signal sent back by the virtual vehicle 401, so as to control the data interaction between the module and the virtual vehicle 401. For example, when the system is initialized, the virtual vehicle SDK sends a start instruction to the virtual vehicle 401, and then the virtual network 4011 converts the instruction into the format defined by each virtual device and sends it down, so that the virtual vehicle and the accessories of the virtual vehicle 401 enter the working state, and after receiving the feedback information of the virtual vehicle 401, it is confirmed that the vehicle is ready. The task scheduling module 4022 is mainly used to sort the test tasks and sort the tasks to be tested in a priority sequence so that the tasks can be carried out in an automated and batch manner to improve the execution efficiency of the tasks. The simulation signal module 4023 module can be used to send the signal recognized by the sensor to the virtual sensor 4013 part of the virtual vehicle 401 to achieve the purpose of identifying the signal. The data storage module 4024 can save the historical data of the entire system and provide query and modification capabilities, which is convenient for statistical simulation test results and data analysis, and data visualization effect.

[0132] It can be understood that the virtual vehicle control system based on digital twins provided in this application simulates the entire vehicle's hardware and software, and provides comprehensive technical support for the development, testing and optimization of new automotive functions. The system can ensure that vehicle functions are tested and verified as comprehensively as possible under safe conditions, improve the efficiency of new vehicle development and testing, reduce dependence on physical hardware on the vehicle side, reduce the cost required for function verification, and achieve cost reduction and efficiency improvement.

[0133] The present application embodiment provides a testing method for a virtual vehicle control system based on digital twins, such as Figure 4 As shown, the method includes:

[0134] S501: Build a virtualized environment for virtual vehicle testing.

[0135] In some embodiments, in the process of building a virtualized environment, a vehicle object can be added to the virtualized container, and an interface for establishing a connection relationship with each virtual component can be generated. After configuring a new virtual accessory, the interface is used for mounting, thereby achieving the effect of deploying the virtual accessory in the virtual vehicle 401. The virtualization process of the domain controller in vehicle virtualization can be to import the operating system and basic software of the corresponding physical controller into the container, and different integration strategies are adopted for domain controllers with different functions.

[0136] In some embodiments, the virtual domain controller 4012 can retain the communication interface with the external module, mainly the interactive interface with the virtual network 4011, through which the signals transmitted by other virtual devices such as the virtual sensor 4013 and the virtual counterpart 4014 inside the virtual vehicle 401 can be obtained. The virtual network 4011 module plays an important role in the overall communication of the virtual vehicle 401, and uses the network protocol conversion method to send and receive data. The data specifications of the input and output need to be defined inside each virtualized controller. For example, the domain controller uses Ethernet communication while the virtual counterpart often uses CAN signal communication, so two-way conversion of signals is required. For example, the Ethernet network signal sent by the domain controller to the counterpart for the vehicle software is converted into a CAN network signal that can be recognized by the virtual component. Through the protocol conversion of the virtual network 4011 module, data communication between controllers with different data specifications can be realized, thereby providing basic capabilities for the virtual vehicle 401 to simulate the whole vehicle hardware and software. The virtual counterpart 4014 includes all physical hardware in the car that can be controlled by the domain controller, such as doors and windows. Each component monitors the messages sent by CAN signals, and then changes the current state according to the execution item command, thereby simulating the actual hardware.

[0137] S502: Create a scheduling task using a task scheduling module in a virtualized environment.

[0138] In some embodiments, the task scheduling module 4022 can be used to serialize task assignments for controllable simulation resources in the simulation environment, and to set instruction operations for different virtualized devices. When the task scheduling module 4022 generates a task, it will predict the result based on the instruction set, including the expected results of different virtual hardware under different tasks. Then, a thread pool is created based on the test task type and the number of tasks, and control instructions are issued to different virtualized hardware in a multi-threaded parallel manner, thereby achieving the effect of different hardware interactions in the scene at the same time. In addition, the task sequence sets loop conditions, such as performing periodic tests or the state of a virtual device parameter reaching a set value, thereby generating independent scheduling logic for different test targets.

[0139] S503: Utilize the virtual car SDK to transmit a virtual signal according to the created scheduling task.

[0140] In some embodiments, after the scheduling task is created, the created test task (including virtual signals) can be sent to the virtual sensor 4013 or virtual domain control 4012 of the virtual vehicle 401 through the SDK, and the simulation signal module 4023 can also distribute the simulated process data to the corresponding sensor of the virtual vehicle 401 through the SDK.

[0141] S504: The virtual component performs a test task based on the virtual signal.

[0142] In some embodiments, after receiving the virtual signal, the sensor on the virtual vehicle 401 sends the virtual CAN signal in the virtual network 4011 to the virtual domain control 4012 component to respond to the virtual vehicle 401 hardware and software, and then feeds back the response result to the vehicle virtual counterpart 4014 through the virtual network 4011. The virtual counterpart 4014 changes its own state after receiving the vehicle domain control response signal. When the virtual hardware state changes, the state change notify is sent through the publish-subscribe method of the virtual network 4011, and then fed back to the scheduling module by the virtual car SDK 4021 and saved in the database.

[0143] S505: Use the data storage module to record the test results.

[0144] The scheduling module determines whether the task is successfully executed based on the serial number and the corresponding feedback result, and saves the result data in the data storage module 4024. When the simulation sequence task sequence is cleared, the task scheduling module 4022 is completed. Through the persistently stored database information, it is determined whether the simulation task meets the expected test results.

[0145] The testing method of the virtual vehicle control system based on digital twins provided in the embodiment of the present application covers most actual vehicle usage scenarios through the simulation of the whole vehicle hardware and software and the emulation of the vehicle usage scenarios by the virtual vehicle control system, solving the problems of high testing costs and long testing cycles caused by the small number of actual test vehicles and the large number of test requirements in the current vehicle development process, thereby improving the software and hardware testing efficiency in the whole vehicle development process, and meeting various testing requirements in virtual scenarios. After the test in the virtual environment is completed, the actual vehicle is tested, which reduces the loss of resources in the testing process, greatly reduces the testing cost, and improves the efficiency of vehicle testing and development.

[0146] The present application embodiment provides a virtual vehicle testing device, Figure 5 A schematic diagram of the structure of a virtual vehicle testing device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the virtual vehicle testing device 600 includes the virtual vehicle testing system 100 provided in an embodiment of the present application.

[0147] It should be noted that the description of the virtual vehicle test device in the embodiment of the present application is similar to the description of the above-mentioned system and method embodiments, and has similar beneficial effects as the system and method embodiments, so it is not repeated. For technical details not disclosed in the embodiment of the device, please refer to the description of the system and method embodiments of the present application for understanding.

[0148] It should be noted that in the embodiment of the present application, if the above-mentioned virtual vehicle testing method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or the part that contributes to the relevant solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0149] Accordingly, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the virtual vehicle testing method provided in the above embodiment is implemented.

[0150] The description of the above storage medium embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the storage medium embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0151] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes at least one ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0152] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0153] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0154] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0155] A person of ordinary skill in the art can understand that: all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, disks or optical disks.

[0156] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a product to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0157] The above are only implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technical object familiar with the technical field can be easily thought of within the technical scope disclosed in the present application. Changes or substitutions should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A virtual vehicle testing system, characterized in that: include: Virtual vehicle and virtual vehicle control module; The virtual vehicle includes a plurality of virtual vehicle components and a virtual network unit; The virtual network unit is used for communication between the plurality of virtual vehicle components and communication between the virtual vehicle and the virtual vehicle control module; The virtual vehicle control module is used to send a simulation test task to at least one virtual vehicle component through the virtual network unit, and receive a test result fed back by the corresponding virtual vehicle component based on the simulation test task, so as to complete the test of the virtual vehicle.

2. The virtual vehicle testing system according to claim 1, characterized in that: The virtual vehicle components include a virtual domain controller, a virtual sensor, and a virtual actuator; The virtual sensor and the virtual domain controller establish a communication connection through the virtual network unit; the virtual executor and the virtual domain controller establish a communication connection through the network unit.

3. The virtual vehicle testing system according to claim 2, characterized in that: The simulation test task includes a first simulation test signal for the virtual sensor to identify; the virtual vehicle control module is used to send the first simulation test signal to the virtual sensor through the virtual network unit to test the virtual sensor.

4. The virtual vehicle testing system according to claim 2, characterized in that: The simulation test task includes a second simulation test signal for controlling the virtual actuator to perform an action; the virtual vehicle control module is also used to send the second simulation test signal to the virtual actuator through the virtual network unit and the virtual domain controller to test the virtual domain controller and / or the virtual actuator.

5. The virtual vehicle testing system according to claim 1, characterized in that: The virtual vehicle control module includes a virtual vehicle software development kit SDK unit, and the virtual vehicle SDK unit is used to send the simulation test task to the at least one virtual vehicle component and receive the test result fed back by the corresponding virtual vehicle component based on the simulation test task.

6. The virtual vehicle testing system according to claim 5, characterized in that: The simulation test tasks include multiple ones, and the virtual vehicle control module includes a task scheduling unit, which is used to sort the multiple simulation test tasks and obtain a sorting result, so that the virtual car SDK unit can send each simulation test task to the at least one virtual vehicle component in sequence according to the sorting result.

7. The virtual vehicle testing system according to claim 6, characterized in that: The virtual vehicle control module includes a data storage unit, and the data storage unit is used to store at least the simulation test task, the sorting result and the test result.

8. The virtual vehicle testing system according to claim 1, characterized in that: The virtual vehicle control module includes a simulation signal unit, which is used to generate the simulation test task based on a real vehicle operating condition signal, and the real vehicle operating condition signal includes at least one of an actual vehicle control signal and an actual sensor signal.

9. A virtual vehicle testing method, characterized in that: The method is applied to a virtual vehicle test system, the virtual vehicle test system comprising: a virtual vehicle and a virtual vehicle control module; the virtual vehicle comprises a plurality of virtual vehicle components and a virtual network unit; the virtual network unit is used for communication between the plurality of virtual vehicle components and between the virtual vehicle and the virtual vehicle control module; the method comprises: The virtual vehicle control module sends a simulation test task to at least one virtual vehicle component through the virtual network unit; The virtual vehicle component performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module.

10. The virtual vehicle testing method according to claim 9, characterized in that: The virtual vehicle components include a virtual domain controller, a virtual sensor and a virtual actuator; the simulation test task includes a first simulation test signal for the virtual sensor to identify; the test result includes first state information after the virtual actuator performs an action; The virtual vehicle component performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module, including: The virtual sensor receives the first simulation test signal sent by the virtual vehicle control module, and identifies the first simulation test signal to obtain an identification result; The virtual sensor sends the identification result to the virtual domain controller through the virtual network unit; The virtual domain controller processes the identification result and generates a virtual control signal, and sends the virtual control signal to the virtual executor through the virtual network unit; The virtual actuator performs an action based on the virtual control signal, and feeds back the first state information after the action is performed to the virtual vehicle control module through the virtual domain controller and the virtual network unit.

11. The virtual vehicle testing method according to claim 9, characterized in that: The simulation test task includes a second simulation test signal for controlling the virtual actuator to perform an action; the test result includes second state information after the virtual actuator performs the action; The virtual vehicle component performs a simulation test based on the simulation test task, generates a test result, and feeds the test result back to the virtual vehicle control module, including: The virtual domain controller receives the second simulation test signal, and sends the second simulation test signal to the virtual executor; The virtual actuator will perform an action based on the second simulation test signal, and feed back the second state information after performing the action to the virtual vehicle control module through the virtual domain controller and the virtual network unit.

12. The virtual vehicle testing method according to claim 9, characterized in that: The virtual vehicle control module includes a simulation signal unit; the method further includes: The simulation signal unit generates the simulation test task based on the actual vehicle operating condition signal; the actual vehicle operating condition signal includes at least one of an actual vehicle control signal and an actual sensor signal.

13. The virtual vehicle testing method according to claim 9, characterized in that: The simulation test tasks include multiple ones, and the virtual vehicle control module includes a task scheduling unit and a virtual vehicle SDK unit; The virtual vehicle control module sends a simulation test task to at least one virtual vehicle component through the virtual network unit, including: The task scheduling unit sorts the plurality of simulation test tasks to obtain a sorting result; The virtual vehicle SDK unit sends each simulation test task to the at least one virtual vehicle component in sequence based on the sorting result.

14. A virtual vehicle testing device, characterized in that: The virtual vehicle testing equipment comprises the virtual vehicle testing system according to any one of claims 1 to 8.

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