Driving system test method, system, device, medium and program product

Abstract

The invention discloses a driving system test method, system and device, a medium and a program product. The driving system test method comprises the steps of obtaining test data of a vehicle in an actual driving scene; the test data comprises vehicle driving data and vehicle scene data; recharging the vehicle scene data to a driving controller in the to-be-tested driving system, and recharging the vehicle driving data to a vehicle control controller of the to-be-tested driving system; starting a to-be-tested driving function of a cabin controller in the to-be-tested driving system to enable the cabin controller to generate a function setting signal; acquiring vehicle motion information of a simulated vehicle in the driving test system; the vehicle motion information is obtained by controlling the simulation vehicle by the vehicle controller based on the test control signal; the test control signal is determined by the driving controller based on the vehicle driving data, the vehicle scene data and the function setting signal; and determining a test result of the to-be-tested driving system based on the vehicle motion information.

Description

Technical Field

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

[0002] With the vigorous development of technologies such as the fifth generation mobile communication technology (5G), cloud computing, and the Internet of Things, intelligent driving products are widely installed in car models, and major car companies are also engaged in a fierce competition. How to verify the intelligent driving system to make it more intelligent, safer, and have a better driving experience has become the key.

[0003] At present, there are two testing methods for driving systems that integrate the three major controllers of driving, cockpit, and vehicle control: real vehicle testing and hardware-in-the-loop testing (HAL). Real vehicle testing consumes a lot of manpower and material resources and has low testing efficiency; HAL bench testing mainly uses scene simulation data as system input, which has time delays, data distortion, etc. Summary of the invention

[0004] In view of this, the embodiments of the present application at least provide a driving system testing method, system, device, medium and program product.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a driving system testing method, the testing method being applied to a testing host computer in a driving test system; the driving system testing method comprising:

[0007] Acquire test data of the vehicle in an actual driving scenario; the test data includes vehicle driving data and vehicle scenario data;

[0008] Feeding the vehicle scene data back to the driving controller in the driving system to be tested, and feeding the vehicle driving data back to the vehicle control controller of the driving system to be tested; the vehicle control controller is used to transmit the vehicle driving data to the driving controller;

[0009] Turning on the driving function to be tested of the cockpit controller in the driving system to be tested, so that the cockpit controller generates a function setting signal; the cockpit controller is used to send the function setting signal to the driving controller;

[0010] Acquiring vehicle motion information of a simulated vehicle in the driving test system; the vehicle motion information is obtained by the vehicle control controller controlling the simulated vehicle based on a test control signal; the test control signal is determined by the driving controller based on the vehicle driving data, the vehicle scene data and the function setting signal;

[0011] Based on the vehicle motion information, a test result of the driving system to be tested is determined.

[0012] In the embodiment of the present application, by testing the driving system to be tested on the test system based on the test data of the vehicle in the actual scene, it can not only solve the problem of delay and data distortion caused by the HAL bench test using the scene simulation data as the system input in the related technology, but also solve the problem of real vehicle testing consuming a lot of manpower and material resources and low test efficiency in the related technology. At the same time, the vehicle motion information obtained through the interaction between the driving controller, the vehicle control controller and the cockpit controller determines the test results of the driving system to be tested, which can not only test the functions of each controller itself, but also test the communication functions between each controller, thereby improving the accuracy and efficiency of testing the vehicle system functions.

[0013] In some embodiments, determining the test result of the driving system to be tested based on the vehicle motion information includes: generating predicted vehicle body information based on the vehicle driving data and the vehicle scene data; and comparing the vehicle motion information and the predicted vehicle body information to obtain the test result of the driving system to be tested.

[0014] In the embodiment of the present application, the predicted body information is generated through the vehicle driving data and the vehicle scene data, and then the vehicle motion information and the predicted body information are compared to obtain the test result of the driving system to be tested. In this way, by comparing the current motion information of the simulated vehicle with the predicted body information, it is possible to accurately determine whether the test control signal generated by the vehicle control controller is correct, thereby being able to test the functions of the three controllers in the driving system to be tested.

[0015] In some embodiments, the method also includes: preprocessing the test data; the preprocessing includes at least one of the following: time synchronization processing and data deduplication processing; the feeding back the vehicle scene data to the driving controller of the driving system to be tested that matches the vehicle, and the feeding back the vehicle driving data to the vehicle control controller of the driving system to be tested, includes: feeding back the preprocessed vehicle scene data to the driving controller of the driving system to be tested that matches the vehicle, and feeding back the preprocessed vehicle driving data to the vehicle control controller of the driving system to be tested.

[0016] In the embodiment of the present application, the accuracy of the test results of the driving test system can be improved by preprocessing the test data.

[0017] In some embodiments, the test data is deduplicated, including: when the test data is transmitted through a controller area network, using an electronic control unit node to perform data playback on a controller area network message carrying the test data, removing a received message in the controller area network message, and obtaining a sent message in the controller area network message; when the test data is transmitted through an in-vehicle Ethernet, constructing a first Ethernet channel and a second Ethernet channel; sending an in-vehicle Ethernet message carrying the test data to a logic processing module in the second Ethernet channel through the first Ethernet channel; deduplicating the test data in the in-vehicle Ethernet message through the logic processing module in the second Ethernet channel; and feeding the pre-processed vehicle driving data back to the vehicle control controller of the driving system to be tested, including: sending the deduplicated vehicle driving data to the vehicle control controller of the driving system to be tested through the sending module in the second Ethernet channel.

[0018] In the embodiment of the present application, different data deduplication processing methods can be used for the test data transmitted through the transmission method, so as to improve the efficiency and accuracy of data deduplication.

[0019] In some embodiments, for each frame of the on-board Ethernet message, the test data in the on-board Ethernet message is deduplicated through the logic processing module in the second Ethernet channel, including: extracting the test data in the on-board Ethernet message through the logic processing module in the second Ethernet channel; assigning values ​​to the test data in the on-board Ethernet message to complete the deduplication of the test data.

[0020] In the embodiment of the present application, by performing value assignment processing on the test data in the vehicle Ethernet message to complete the data deduplication of the message, the duplication of the data can be reduced, thereby improving the accuracy of the test control signal determined by the driving controller in the driving system to be tested.

[0021] In some embodiments, the test data is time synchronized, including: based on the timestamp information of the vehicle driving data and the timestamp information of the vehicle scene data, determining the vehicle driving data and the vehicle scene data with the same timestamp information; the vehicle scene data is fed back to the driving controller in the driving system to be tested, and the vehicle driving data is fed back to the vehicle control controller of the driving system to be tested, including: for each timestamp information, constructing a first message carrying the vehicle scene data corresponding to the timestamp information, and a second message carrying the vehicle driving data corresponding to the timestamp information, and sending the first message to the driving controller and the second message to the vehicle control controller respectively and simultaneously.

[0022] In the embodiment of the present application, the vehicle driving data and the vehicle scene data with the same timestamp information are determined through the timestamp information of the vehicle driving data and the timestamp information of the vehicle scene data; then a first message carrying the vehicle scene data corresponding to the timestamp information and a second message carrying the vehicle driving data corresponding to the timestamp information are constructed, and the first message is sent to the driving controller and the second message is sent to the vehicle control controller at the same time. In this way, the vehicle driving data and the vehicle scene data are screened and processed according to the timestamp information, and then the first message and the second message corresponding to the timestamp information are sent at the same time in time sequence, so that the driving system to be tested can more accurately simulate the actual vehicle driving scene, thereby improving the accuracy of testing the driving system to be tested.

[0023] In a second aspect, an embodiment of the present application provides a driving system testing device, the driving system testing device comprising:

[0024] a temperature acquisition unit, configured to acquire the temperature of the welding probe before welding through the heat sealing controller in response to the battery to be welded being under the welding device;

[0025] a control unit, configured to control the welding probe to be in a heating state through the heat sealing controller when it is determined based on the temperature before welding that the heat sealing controller is in a normal state before welding;

[0026] The temperature acquisition unit is further used to acquire the temperature of the welding probe after welding through the heat sealing controller when the welding probe in the heating state completes welding the battery to be welded;

[0027] The state determination unit is used to determine whether the heat sealing controller is in a normal state after welding based on the temperature after welding.

[0028] In a third aspect, an embodiment of the present application provides a test device for a driving system, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0029] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements some or all of the steps in the above method when executed by a processor.

[0030] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or instructions, which implement some or all of the steps in the above method when executed by a processor.

[0031] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0033] Figure 1 A schematic diagram of the implementation process of a driving system testing method provided in an embodiment of the present application Figure 1 ;

[0034] Figure 2 A schematic diagram of the implementation process of a driving system testing method provided in an embodiment of the present application Figure 2 ;

[0035] Figure 3 A schematic diagram of the implementation process of a driving system testing method provided in an embodiment of the present application Figure 3 ;

[0036] Figure 4 A schematic diagram of the structure of a recharging system provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of the structure of a driving system testing device provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of a hardware entity of a test device for a driving system in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. 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 the present application.

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

[0041] The terms "first / second / third" involved are merely used to distinguish similar vehicles and do not represent a specific order for the vehicles. It is understandable that "first / second / third" can be interchanged with the 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 this application and are not intended to limit this application.

[0043] In order to improve the efficiency and accuracy of testing a driving system, an embodiment of the present application provides a driving system testing method, which can be applied to a testing host computer of a driving system testing system, and the testing host computer includes but is not limited to fixed devices and / or mobile devices. For example, the fixed devices include but are not limited to: a personal computer (PC), or a server, etc., and the server can be a cloud server or an ordinary server.

[0044] Figure 1 A schematic diagram of the implementation flow of a driving system testing method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes the following steps S101 to S105:

[0045] Step S101, obtaining test data of a vehicle in an actual driving scenario; the test data includes vehicle driving data and vehicle scenario data.

[0046] Here, the vehicle driving data is the vehicle's own information. Exemplarily, the vehicle driving data may include at least one of the following: the vehicle's frame number, the vehicle's model information, speed information, acceleration information, gear information, steering information, and throttle. The vehicle scene data is the real scene information of the vehicle during driving. Exemplarily, the vehicle scene data includes at least one of the following: camera data, radar data, map data, and positioning data. The camera data includes at least one of the following: front camera data, rear camera data, surround camera data, and periscopic camera data; the radar data includes at least one of the following: front radar data, rear radar data, corner radar data, lidar data, and ultrasonic radar data. In an embodiment of the present application, the road environment, obstacle information, and lane line information can be determined through camera data and radar data.

[0047] In an embodiment of the present application, during the driving of the vehicle, the vehicle driving data and vehicle scene data of the vehicle are acquired in real time through various sensors of the vehicle.

[0048] In some embodiments, vehicle scene data can be collected by a device having the same data format as the internal components of the driving controller; vehicle driving data can be collected by a device having a CAN signal collection function.

[0049] In some embodiments, before step S101, a device for collecting vehicle scene data and a device for collecting vehicle driving data may be time-calibrated first, and then, while the vehicle is driving in an actual driving scenario, the two devices may be controlled to simultaneously collect vehicle scene data and vehicle driving data.

[0050] Step S102, feeding the vehicle scene data back to the driving controller in the driving system to be tested, and feeding the vehicle driving data back to the vehicle control controller of the driving system to be tested; the vehicle control controller is used to transmit the vehicle driving data to the driving controller.

[0051] In an embodiment of the present application, after acquiring the vehicle scene data, the test host computer can feed the vehicle scene data back to the driving controller (ADAS\AD Domain Controller, ADC) so that the driving controller performs driving algorithm processing based on the vehicle scene data. Exemplarily, the driving algorithm includes at least one of the following: a decision matrix algorithm, a clustering algorithm, a pattern recognition algorithm, and a regression algorithm.

[0052] In an embodiment of the present application, after the test host computer feeds the vehicle driving data back to the vehicle control unit (VCU), the vehicle control controller can transmit the vehicle driving data to the driving controller so that the driving controller performs driving algorithm processing based on the vehicle driving data and vehicle scene data.

[0053] In some embodiments, the driving test system may be a bench test system.

[0054] In some embodiments, the vehicle control controller and the driving controller are connected to each other via Ethernet, so that the vehicle control controller can transmit the vehicle driving data to the driving controller.

[0055] Step S103, starting the driving function to be tested of the cockpit controller in the driving system to be tested, so that the cockpit controller generates a function setting signal; the cockpit controller is used to send the function setting signal to the driving controller.

[0056] It is understandable that in real-world scenarios, the vehicle's intelligent driving function can be turned on and off, and the driver can turn the vehicle's intelligent driving function on and off through the cockpit domain controller (CDC). Therefore, in order to test whether the interaction between the cockpit controller, driving controller, and vehicle control controller in the driving system is normal, it is necessary to control the cockpit controller through the test host computer to turn on the corresponding driving function to be tested.

[0057] In the embodiment of the present application, when the driving function to be tested is turned on, the cockpit controller can generate a function setting signal, and then send the function setting signal to the driving controller. After receiving the function setting signal, the driving controller can determine the intelligent driving mode corresponding to the function setting signal, and then use the intelligent driving mode to perform driving algorithm processing on the vehicle driving data and vehicle scene data. Exemplarily, the driving function to be tested may include at least one of the following: a pilot function and an obstacle avoidance function.

[0058] In some embodiments, the test host computer is connected to the cockpit controller via a network cable or ADB, so that the test host computer can enable the driving function to be tested of the cockpit controller in the driving system to be tested.

[0059] In some embodiments, the cockpit controller is connected to the driving controller via Ethernet, so that the cockpit controller can send the function setting signal to the driving controller via Ethernet.

[0060] Step S104, obtaining vehicle motion information of a simulated vehicle in the driving test system; the vehicle motion information is obtained by the vehicle control controller controlling the simulated vehicle based on a test control signal; the test control signal is determined by the driving controller based on the vehicle driving data, the vehicle scene data and the function setting signal.

[0061] In the embodiment of the present application, the driving controller can generate a test control signal for controlling the body state of the simulated vehicle based on the driving algorithm, vehicle driving data and vehicle scene data corresponding to the function setting signal, and then send the test control signal to the vehicle control controller, and the vehicle control controller can control the body state of the simulated vehicle based on the test control signal. Then, each sensor of the simulated vehicle can collect the vehicle motion information of the simulated vehicle and send the vehicle motion information to the test host computer.

[0062] For example, the vehicle driving data indicates that the vehicle is in a straight-moving state and the speed is 50 km / h, the vehicle scene data indicates that there is an obstacle in front of the vehicle, and the function setting signal indicates that the automatic obstacle avoidance function is turned on. At this time, the driving controller can use the automatic obstacle avoidance algorithm corresponding to the function setting signal to process the vehicle driving data and vehicle scene data, generate an obstacle avoidance route, and send the corresponding test control signal to the body controller. The body controller can control the simulated vehicle to drive along the obstacle avoidance route based on the test control signal, and then the various sensors of the simulated vehicle collect the vehicle motion information of the simulated vehicle, and send the vehicle motion information to the test host computer.

[0063] Step S105: determining a test result of the driving system to be tested based on the vehicle motion information.

[0064] In an embodiment of the present application, the test host computer can determine whether the current real-time state of the simulated vehicle matches the test data of the vehicle through the vehicle motion information. If a match is found, the test result of the driving system to be tested is determined to be normal; if a match is found, the test result of the driving system to be tested is determined to be abnormal.

[0065] For example, when the vehicle driving data indicates that the vehicle is in a straight-moving state and the speed is 50km / h, and the vehicle scene data indicates that there is an obstacle in front of the vehicle, the function setting signal indicates that the automatic obstacle avoidance function is turned on. If the vehicle motion information indicates that the speed is less than 50km / h and the vehicle is turning, it means that the simulated vehicle is avoiding obstacles, that is, the vehicle motion information of the simulated vehicle matches the test data, and the test result of the driving system to be tested is normal; if the vehicle motion information indicates that the speed is greater than or equal to 50km / h, and / or the vehicle is driving straight, it means that the simulated vehicle is not avoiding obstacles, that is, the vehicle motion information of the simulated vehicle does not match the test data, and the test result of the driving system to be tested is abnormal.

[0066] It can be understood that the vehicle motion information of the simulated vehicle is determined based on the vehicle scene data fed back to the driving controller, the vehicle driving data fed back to the vehicle control controller, and the function setting signal generated by the cockpit controller, so the three controllers need to exchange information with each other. Therefore, the test results determined based on the vehicle motion information can not only test whether the functions of each controller itself are normal, but also determine whether the communication functions between the three controllers are normal.

[0067] In the embodiment of the present application, by testing the driving system to be tested on the test system based on the test data of the vehicle in the actual scene, it can not only solve the problem of delay and data distortion caused by the HAL bench test using the scene simulation data as the system input in the related technology, but also solve the problem of real vehicle testing consuming a lot of manpower and material resources and low test efficiency in the related technology. At the same time, the vehicle motion information obtained through the interaction between the driving controller, the vehicle control controller and the cockpit controller determines the test results of the driving system to be tested, which can not only test the functions of each controller itself, but also test the communication functions between each controller, thereby improving the accuracy and efficiency of the simulated vehicle system.

[0068] In some embodiments, Figure 2 As shown, the above step S105 can be implemented through steps S201 and S202:

[0069] Step S201, generating predicted vehicle body information based on the vehicle driving data and the vehicle scene data.

[0070] In an embodiment of the present application, the test host computer can use a preset intelligent driving algorithm to process the vehicle driving data and the vehicle scene data to generate predicted body information. The predicted body information is used to characterize the body state of the vehicle. For example, when the vehicle driving data indicates that the vehicle is in a straight-moving state and the speed is 50km / h, and the vehicle scene data indicates that there is an obstacle in front of the vehicle, an obstacle avoidance route can be generated by processing the vehicle driving data and the vehicle scene data. Based on the obstacle avoidance route, the body information of the vehicle can be predicted, that is, the vehicle should slow down (the speed is less than 50km / h), and turn.

[0071] Step S202 , comparing the vehicle motion information and the predicted vehicle body information to obtain a test result of the driving system to be tested.

[0072] In an embodiment of the present application, after the test host computer generates predicted vehicle body information, the predicted vehicle body information can be compared with the current vehicle motion information of the simulated vehicle. If the two do not match, it is determined that the test result of the driving system to be tested is abnormal. If the two match, it is determined that the test result of the driving system to be tested is normal.

[0073] In the embodiment of the present application, the predicted body information is generated through the vehicle driving data and the vehicle scene data, and then the vehicle motion information and the predicted body information are compared to obtain the test result of the driving system to be tested. In this way, by comparing the current motion information of the simulated vehicle with the predicted body information, it is possible to accurately determine whether the test control signal generated by the vehicle control controller is correct, thereby being able to test the functions of the three controllers in the driving system to be tested.

[0074] In some embodiments, the above method can also be implemented by step S301:

[0075] Step S301, preprocessing the test data.

[0076] Here, the preprocessing includes at least one of the following: time synchronization processing and data deduplication processing. Among them, the time synchronization processing refers to synchronizing the driving scene data and the vehicle data according to time, and the synchronized driving scene data and the vehicle travel data can be data collected at the same time, so that the data conforms to the vehicle status.

[0077] It is understandable that since the devices used to collect driving data and vehicle data are different, the time of the collected data is different. It is necessary to process the acquired video data and vehicle data simultaneously according to a unified time scale so that the data conforms to the status of each controller of the driving vehicle to facilitate the accuracy of data feedback.

[0078] In an embodiment of the present application, the test data obtained by the test host computer is sent to the test host computer in the form of a message, so the test data obtained by the test host computer is duplicate data, so it is necessary to perform data deduplication processing on the test data. In some embodiments, the test host computer can first determine the transmission mode of the test data, and process the test data using a deduplication method corresponding to the transmission mode of the test data. Exemplarily, the transmission mode may include transmission via a controller area network, and / or transmission via an in-vehicle Ethernet.

[0079] In an embodiment of the present application, after the test host computer preprocesses the vehicle scene data and the vehicle driving data respectively, the preprocessed vehicle scene data is fed back to the driving controller of the driving system to be tested that matches the vehicle, and the preprocessed vehicle driving data is fed back to the vehicle control controller of the driving system to be tested.

[0080] In the embodiment of the present application, the accuracy of the test results of the driving test system can be improved by preprocessing the test data.

[0081] In some embodiments, deduplication processing of the test data may be performed through steps S401 and S402:

[0082] Step S401, when the test data is transmitted through the CAN, the ECU node is used to replay the CAN message carrying the test data, remove the received message in the CAN message, and obtain the sent message in the CAN message.

[0083] In an embodiment of the present application, when the test data is transmitted through the controller area network (CAN), it means that the test host computer obtains CAN messages. At this time, the electronic control unit (ECU) node can be constructed first, and then the CAN message data can be replayed. Finally, the received message in the controller area network message is removed to obtain the sent message in the controller area network message.

[0084] It is understandable that because the received message may have inaccurate data due to various reasons, the test data carried in the sent message is the same as the data collected by the collection device in the vehicle.

[0085] Step S402, when the test data is transmitted through the vehicle Ethernet, construct a first Ethernet channel and a second Ethernet channel; send a vehicle Ethernet message carrying the test data to the logic processing module in the second Ethernet channel through the first Ethernet channel; and deduplicate the test data in the vehicle Ethernet message through the logic processing module in the second Ethernet channel.

[0086] In the embodiment of the present application, when the test data is transmitted via the vehicle Ethernet (Ethernet), it means that the test host computer obtains the vehicle Ethernet message. At this time, the first Ethernet channel and the second Ethernet channel can be constructed first, wherein the first Ethernet channel is used for data playback, and the second Ethernet data is used for data deduplication processing, and the second Ethernet data includes a logic processing module and a sending module. The first Ethernet channel is used to send the vehicle Ethernet message carrying the test data to the logic processing module to realize data playback, and then the logic processing module can perform data deduplication processing on the test data in the vehicle Ethernet message.

[0087] In some embodiments, when the test data is vehicle driving data and the logic processing module completes deduplication processing of the vehicle driving data, the deduplication processed vehicle driving data can be sent to the vehicle control controller of the driving system to be tested through the sending module in the second Ethernet channel to complete the re-injection of the vehicle driving data to the vehicle control controller.

[0088] In the embodiment of the present application, different data deduplication processing methods can be used for the test data transmitted through the transmission method, so as to improve the efficiency and accuracy of data deduplication.

[0089] In some embodiments, in the above step S402, “deduplicate the test data in the vehicle Ethernet message by the logic processing module in the second Ethernet channel” can be implemented by the following steps:

[0090] Step S4021: extracting test data from the vehicle-mounted Ethernet message through the logic processing module in the second Ethernet channel.

[0091] In the embodiment of the present application, the test host computer can parse the vehicle Ethernet message through the logic processing module to obtain the test data in the vehicle Ethernet message.

[0092] Step S4022: performing value assignment processing on the test data in the vehicle Ethernet message to complete deduplication processing of the test data.

[0093] It is understandable that in order to reduce the duplication of data and improve the accuracy of the test control signal determined by the driving controller in the driving system to be tested, in the embodiment of the present application, it is necessary to perform data deduplication of the message by assigning values ​​to the test data in the vehicle Ethernet message.

[0094] In some embodiments, time synchronization processing of test data may be implemented through step S501, and the above step S102 may be implemented through step S502:

[0095] Step S501, based on the timestamp information of the vehicle driving data and the timestamp information of the vehicle scene data, determine the vehicle driving data and the vehicle scene data with the same timestamp information.

[0096] In the embodiment of the present application, multiple timestamp information can be traversed to filter out vehicle driving data and vehicle scene data with the same timestamp information. If only vehicle driving data or only vehicle scene data exists for a certain timestamp information, then the vehicle driving data or vehicle scene data corresponding to the timestamp information needs to be deleted.

[0097] Exemplarily, the vehicle driving data includes vehicle driving data 1 corresponding to time 1, vehicle driving data 2 corresponding to time 2, and vehicle driving data 3 corresponding to time 3; the vehicle scene data includes vehicle scene data 1 corresponding to time 1 and vehicle driving data 3 corresponding to time 3. Then, if there is only one test data corresponding to time 2, the vehicle driving data 2 corresponding to time 2 can be deleted. At this time, the vehicle driving data and vehicle scene data with the same timestamp information include: vehicle driving data 1 and vehicle scene data 1 corresponding to time 1, and vehicle driving data 3 and vehicle scene data 3 corresponding to time 3.

[0098] It is understandable that in the related art, the HAL bench test mainly uses scene simulation data as system input, which has problems such as time delay and data distortion. Therefore, in the embodiment of the present application, the input of the driving system to be tested is the test data of the vehicle in the actual driving scene. In order to make the driving system to be tested more accurately simulate the real vehicle driving scene, it is necessary to send the test data at the same time to different controllers while recharging the test data to different controllers respectively. Therefore, it is necessary to delete the vehicle driving data and vehicle scene data with different timestamp information first.

[0099] Step S502, for each timestamp information, construct a first message carrying the vehicle scene data corresponding to the timestamp information, and a second message carrying the vehicle driving data corresponding to the timestamp information, and send the first message to the driving controller and the second message to the vehicle control controller at the same time.

[0100] In an embodiment of the present application, after time synchronization processing is performed on the test data, a first message and a second message can be constructed in sequence according to the order of timestamp information, and then the first message is sent to the driving controller and the second message is sent to the vehicle control controller.

[0101] Exemplarily, the vehicle driving data and vehicle scene data with the same timestamp information include: vehicle driving data 1 and vehicle scene data 1 corresponding to time 1, and vehicle driving data 3 and vehicle scene data 3 corresponding to time 3. First, for time 1, a first message carrying vehicle scene data 1 and a second message carrying vehicle driving data 1 can be constructed, and the first message is sent to the driving controller, and the second message is sent to the vehicle control controller. Then, for time 3, a first message carrying vehicle scene data 3 and a second message carrying vehicle driving data 3 are constructed, and the first message is sent to the driving controller, and the second message is sent to the vehicle control controller.

[0102] In the embodiment of the present application, the vehicle driving data and the vehicle scene data with the same timestamp information are determined through the timestamp information of the vehicle driving data and the timestamp information of the vehicle scene data; then a first message carrying the vehicle scene data corresponding to the timestamp information and a second message carrying the vehicle driving data corresponding to the timestamp information are constructed, and the first message is sent to the driving controller and the second message is sent to the vehicle control controller at the same time. In this way, the vehicle driving data and the vehicle scene data are screened and processed according to the timestamp information, and then the first message and the second message corresponding to the timestamp information are sent at the same time in time sequence, so that the driving system to be tested can more accurately simulate the actual vehicle driving scene, thereby improving the accuracy of testing the driving system to be tested.

[0103] In some embodiments, Figure 3As shown, the test method of the driving system can also be implemented by the following steps:

[0104] Step S301, obtaining autonomous driving scene data.

[0105] The autonomous driving scene data includes but is not limited to: camera data and radar data. Camera data includes but is not limited to front view, rear view, surround view, and perimeter view; radar data includes but is not limited to front radar, rear radar, corner radar, laser radar, and ultrasonic radar.

[0106] In the embodiments of the present application, the autonomous driving vehicle can be understood as a vehicle equipped with an L2-L4 driving system.

[0107] In the embodiment of the present application, the autonomous driving scene data may also include, but is not limited to: road environment, obstacle information, lane line information, map information and positioning information perceived by the vehicle-mounted sensor system.

[0108] Step S302, obtaining autonomous driving vehicle data.

[0109] Among them, autonomous driving vehicle data includes but is not limited to the vehicle’s own information related to autonomous driving, such as: frame number, vehicle model, speed, acceleration, gear, steering, throttle, etc.

[0110] In the embodiment of the present application, the driving scene data can be collected by a device having the same data format as the internal components of the driving controller; the vehicle data can be collected by a device having a CAN signal collection function. It should be noted that when the driving scene data collection device starts collecting data, the vehicle data collection device starts collecting vehicle data at the same time.

[0111] Step S303: performing time synchronization processing on the driving scene data and the vehicle data.

[0112] In this embodiment, the time synchronization processing refers to synchronizing the driving scene data and the vehicle data according to time. The synchronized driving data and vehicle data may be data collected at the same time, so that the data conforms to the vehicle status.

[0113] In this embodiment, time synchronization processing is implemented through an executable software program, which integrates the calling interface of the driving scene data acquisition device and the vehicle data acquisition device. Running the program can ensure the synchronization of driving scene data and vehicle data collected at the source end.

[0114] For example, since the devices for collecting driving data and vehicle data are different, the time of the collected data is different. It is necessary to process the acquired video data and vehicle data simultaneously according to a unified time scale so that the data conforms to the status of each controller of the driving vehicle to facilitate the accuracy of data feedback.

[0115] Step S304: Feed the processed driving scene data back to the driving controller.

[0116] Step S305, feeding the processed vehicle data back to the vehicle control machine.

[0117] In this embodiment, the driving data after time synchronization processing can be fed back to the driving controller by the host computer so that it can be processed by the driving algorithm.

[0118] In this embodiment, the vehicle data after time synchronization processing can be injected back to the vehicle control controller by the host computer so that it has the vehicle body environment.

[0119] Step S306: The cockpit controller performs function settings.

[0120] In this embodiment, the host computer and the cockpit controller can be connected through a network cable or ADB to set the switch of the driving function and the function preference setting. Optionally, such as turning on the pilot, turn on the intelligent obstacle avoidance function.

[0121] Step S307: inter-domain signal transmission.

[0122] In this embodiment, the three controllers can be connected in pairs by Ethernet to form a ring network, so that the driving domain and the cockpit domain can communicate normally; the driving domain and the vehicle control domain can communicate normally; the cockpit domain and the vehicle control domain can communicate normally. In this way, the driving controller can output signals to the cockpit controller and the vehicle control controller, and the cockpit controller can output signals to the driving controller and the vehicle control controller, so as to realize signal interaction between the three controllers.

[0123] Step S308, obtaining vehicle control domain results.

[0124] In the embodiment of the present application, step S308 is implemented by the following steps:

[0125] Step S3081: The driving controller determines the driving control signal based on the driving scene data after time synchronization processing, the vehicle data sent by the vehicle control controller, and the function setting signal sent by the cockpit controller.

[0126] Step S3082: The driving controller sends the driving control signal to the vehicle control controller.

[0127] Step S3083: The vehicle control controller controls the vehicle's throttle opening, steering angle and other movement postures based on the driving control signal.

[0128] In the embodiment of the present application, the motion posture of the vehicle can be obtained by the CAN device, wherein the vehicle body motion posture includes but is not limited to acceleration and deceleration, lateral movement, acceleration, deflection angle, direction, etc.

[0129] Step S309, evaluating the motion posture of the vehicle in the vehicle control domain and providing a test conclusion.

[0130] In an embodiment of the present application, after obtaining the current actual result, it is possible to determine whether the current actual result is consistent with the expected result, and then evaluate the system interaction associated with the three domains of the driving domain controller, the cockpit domain controller, and the vehicle control controller.

[0131] Optionally, the test result may be used to indicate whether the fusion system is normal. In this embodiment, if the current actual result is consistent with the expected result, the test result is used to indicate that the fusion system is normal. Conversely, if the current actual display result is inconsistent with the expected result, the test result is used to indicate that the fusion system is abnormal.

[0132] In some embodiments, Figure 4 As shown, an embodiment of the present application provides a recharging system, which includes an electronic device 401, a data association device 402, a collection device 403 and a fusion controller 404; the fusion controller 404 includes a driving controller 4041, a vehicle control controller 4042 and a cockpit controller 4043. The electronic device 401 is connected to the data association device 402, the collection device 403 and the fusion controller 404 respectively; the collection device 403 is connected to the fusion controller 404. The collection device 403 is used to collect driving scene data and vehicle data; the data association device 402 is used to process driving scene data and vehicle data; the electronic device 401 is used to transmit the driving scene data to the driving controller 4041 and transmit the vehicle data to the vehicle control controller 4042, which can realize the driving system scene recharging described in this solution to test the driving system.

[0133] In the embodiment of the present application, the above-mentioned electronic device may be the test host computer in the above-mentioned embodiment.

[0134] In some embodiments, Figure 5 As shown, the embodiment of the present application provides a driving test system 500, which includes a test host computer 501 and a simulated vehicle 502; wherein the test host computer 501 is used to:

[0135] Acquire test data of the vehicle in an actual driving scenario; the test data includes vehicle driving data and vehicle scenario data;

[0136] Feeding the vehicle scene data back to the driving controller in the driving system to be tested, and feeding the vehicle driving data back to the vehicle control controller of the driving system to be tested; the vehicle control controller is used to transmit the vehicle driving data to the driving controller;

[0137] Turning on the driving function to be tested of the cockpit controller in the driving system to be tested, so that the cockpit controller generates a function setting signal; the cockpit controller is used to send the function setting signal to the driving controller;

[0138] Acquiring vehicle motion information of a simulated vehicle in the driving test system; the vehicle motion information is obtained by the vehicle control controller controlling the simulated vehicle based on a test control signal; the test control signal is determined by the driving controller based on the vehicle driving data, the vehicle scene data and the function setting signal;

[0139] Based on the vehicle motion information, a test result of the driving system to be tested is determined.

[0140] In some embodiments, the above-mentioned test host computer 501 is also used to: generate predicted vehicle body information based on the vehicle driving data and the vehicle scene data; compare the vehicle motion information and the predicted vehicle body information to obtain the test result of the driving system to be tested.

[0141] In some embodiments, the above-mentioned test host computer 501 is also used to: preprocess the test data; the preprocessing includes at least one of the following: time synchronization processing and data deduplication processing; feeding the preprocessed vehicle scene data back to the driving controller of the driving system to be tested that matches the vehicle, and feeding the preprocessed vehicle driving data back to the vehicle control controller of the driving system to be tested.

[0142] In some embodiments, the above-mentioned test host computer 501 is also used for: when the test data is transmitted through the controller area network, using the electronic control unit node to replay the controller area network message carrying the test data, removing the received message in the controller area network message, and obtaining the sent message in the controller area network message; when the test data is transmitted through the vehicle Ethernet, constructing a first Ethernet channel and a second Ethernet channel; sending the vehicle Ethernet message carrying the test data to the logic processing module in the second Ethernet channel through the first Ethernet channel; deduplicating the test data in the vehicle Ethernet message through the logic processing module in the second Ethernet channel; and sending the deduplicated vehicle driving data to the vehicle control controller of the driving system to be tested through the sending module in the second Ethernet channel.

[0143] In some embodiments, the above-mentioned test host computer 501 is also used to: extract the test data in the vehicle Ethernet message through the logic processing module in the second Ethernet channel; assign values ​​to the test data in the vehicle Ethernet message to complete deduplication processing of the test data.

[0144] In some embodiments, the above-mentioned test host computer 501 is also used to: determine the vehicle driving data and the vehicle scene data with the same timestamp information based on the timestamp information of the vehicle driving data and the timestamp information of the vehicle scene data; for each of the timestamp information, construct a first message carrying the vehicle scene data corresponding to the timestamp information, and a second message carrying the vehicle driving data corresponding to the timestamp information, and send the first message to the driving controller and the second message to the vehicle control controller at the same time.

[0145] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0146] It should be noted that in the embodiment of the present application, if the above-mentioned data processing 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 is essentially or the part that contributes to the relevant technology 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 described in 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 hardware, software or firmware, or any combination of hardware, software, and firmware.

[0147] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0148] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0149] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0150] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0151] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments 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 embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0152] The present application provides a driving system testing device. Figure 6 A schematic diagram of the structure of a driving system test device 600 provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the device includes: a processor 601, a communication interface 602 and a memory 603, wherein:

[0153] The processor 601 generally controls the overall operation of the driving system test device 600 , and the overall operation may be to implement the driving system test method provided in the embodiment of the present application.

[0154] The communication interface 602 enables the computer device to communicate with other terminals or servers through a network.

[0155] The memory 603 is configured to store instructions and applications executable by the processor 601, and can also cache data to be processed or processed by the processor 601 and each module in the test device 600 of the driving system (for example, image data, audio data, voice communication data, and video communication data), which can be implemented by flash memory (FLASH) or random access memory (Random Access Memory, RAM). Data transmission can be performed between the processor 601, the communication interface 602, and the memory 603 through the bus 604.

[0156] The embodiment of the present application provides a computer program product or a computer program, which includes computer instructions stored in a readable storage medium. A processor of a computer device reads the computer instructions from the readable storage medium, and the processor executes the computer instructions, so that the computer device executes the driving system test method described in the embodiment of the present application.

[0157] An embodiment of the present application provides a readable storage medium storing executable instructions, wherein executable instructions are stored. When the executable instructions are executed by a processor, the processor will execute the driving system testing method provided in the embodiment of the present application.

[0158] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0159] The processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understandable that the electronic device that implements the functions of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0160] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0161] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0162] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0163] 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 the 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 the devices or units can be electrical, mechanical or other forms.

[0164] 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.

[0165] 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.

[0166] A person skilled in the art can understand that all or part of the steps of implementing the above 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 method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0167] 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 present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in 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.

[0168] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A driving system testing method, characterized in that: The test method is applied to a test host computer in a driving test system; the test method comprises: Acquire test data of the vehicle in an actual driving scenario; the test data includes vehicle driving data and vehicle scenario data; Feeding the vehicle scene data back to the driving controller in the driving system to be tested, and feeding the vehicle driving data back to the vehicle control controller of the driving system to be tested; the vehicle control controller is used to transmit the vehicle driving data to the driving controller; Turning on the driving function to be tested of the cockpit controller in the driving system to be tested, so that the cockpit controller generates a function setting signal; the cockpit controller is used to send the function setting signal to the driving controller; Acquiring vehicle motion information of a simulated vehicle in the driving test system; the vehicle motion information is obtained by the vehicle control controller controlling the simulated vehicle based on a test control signal; the test control signal is determined by the driving controller based on the vehicle driving data, the vehicle scene data and the function setting signal; Based on the vehicle motion information, a test result of the driving system to be tested is determined.

2. The testing method according to claim 1, characterized in that: The step of determining a test result of the driving system to be tested based on the vehicle motion information includes: Generate predicted vehicle body information based on the vehicle driving data and the vehicle scene data; The vehicle motion information and the predicted vehicle body information are compared to obtain a test result of the driving system to be tested.

3. The testing method according to claim 1, characterized in that: The method further comprises: Preprocessing the test data; the preprocessing includes at least one of the following: time synchronization processing and data deduplication processing; The step of feeding the vehicle scene data back to a driving controller of a driving system to be tested that matches the vehicle, and feeding the vehicle driving data back to a vehicle control controller of the driving system to be tested, comprises: The pre-processed vehicle scene data is fed back to the driving controller of the driving system to be tested that matches the vehicle, and the pre-processed vehicle driving data is fed back to the vehicle control controller of the driving system to be tested.

4. The testing method according to claim 3, characterized in that: Performing data deduplication processing on the test data includes: In the case where the test data is transmitted through a controller area network, an electronic control unit node is used to replay the controller area network message carrying the test data, and a received message in the controller area network message is removed to obtain a sent message in the controller area network message; In the case where the test data is transmitted through the vehicle Ethernet, a first Ethernet channel and a second Ethernet channel are constructed; a vehicle Ethernet message carrying the test data is sent to a logic processing module in the second Ethernet channel through the first Ethernet channel; and the test data in the vehicle Ethernet message is deduplicated through the logic processing module in the second Ethernet channel; The method of feeding the pre-processed vehicle driving data back to the vehicle control controller of the driving system to be tested includes: The deduplicated vehicle driving data is sent to the vehicle control controller of the driving system to be tested through the sending module in the second Ethernet channel.

5. The testing method according to claim 4, characterized in that: For each frame of the in-vehicle Ethernet message, the deduplication processing of the test data in the in-vehicle Ethernet message by the logic processing module in the second Ethernet channel includes: Extracting test data from the vehicle-mounted Ethernet message through a logic processing module in the second Ethernet channel; The test data in the vehicle-mounted Ethernet message is assigned a value to complete deduplication processing of the test data.

6. The testing method according to any one of claims 1 to 5, characterized in that: Performing time synchronization processing on the test data includes: Based on the timestamp information of the vehicle driving data and the timestamp information of the vehicle scene data, determining the vehicle driving data and the vehicle scene data having the same timestamp information; The step of feeding the vehicle scene data back to the driving controller in the driving system to be tested, and feeding the vehicle driving data back to the vehicle control controller of the driving system to be tested, comprises: For each timestamp information, a first message carrying the vehicle scene data corresponding to the timestamp information and a second message carrying the vehicle driving data corresponding to the timestamp information are constructed, and the first message is sent to the driving controller and the second message is sent to the vehicle control controller at the same time.

7. A driving test system, characterized in that: The driving test system includes a test host computer and a simulated vehicle; wherein, The test host computer is used to obtain test data of the vehicle in an actual driving scenario; the test data includes vehicle driving data and vehicle scenario data; The test host computer is used to feed the vehicle scene data back to the driving controller of the driving system to be tested that matches the vehicle, and feed the vehicle driving data back to the vehicle control controller of the driving system to be tested; The test host computer is used to enable the driving function to be tested of the cockpit controller in the driving system to be tested, so that the cockpit controller generates a function setting signal; The test host computer is used to obtain vehicle motion information of the simulated vehicle; the vehicle motion information is determined based on the vehicle driving data, the vehicle scene data and the function setting signal; The test host computer is used to determine the test result of the driving system to be tested based on the vehicle motion information.

8. A driving system testing device, characterized in that: include: A memory for storing executable instructions; A processor is used to implement the steps in the driving system testing method described in any one of claims 1 to 5 when executing the executable instructions stored in the memory.

9. A computer-readable storage medium, characterized in that: The storage medium stores executable instructions, and when the executable instructions are executed by the processor, the steps in the driving system testing method described in any one of claims 1 to 5 are implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the steps in the driving system testing method according to any one of claims 1 to 5 are implemented.

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