Vehicle testing method, device and system and storage medium

Abstract

The invention relates to the technical field of automobile testing, and discloses a finished automobile testing method, device and system and a storage medium, the method is applied to an external domain controller establishing communication connection with a tested automobile, and the method comprises the steps of obtaining automobile control information, the vehicle control information is generated based on a preset test path and positioning information of the test vehicle, and the preset test path is used for specifying a driving route of the vehicle in a test site; controlling the test vehicle to run according to the vehicle control information; and in the vehicle driving process, aiming at the tested vehicle, collecting performance data representing the test condition. According to the technical scheme provided by the invention, the whole vehicle testing efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile testing, and in particular to a whole vehicle testing method, device, system and storage medium. Background Art

[0002] Vehicle performance testing refers to the performance testing of various components of vehicle products. Common performance tests include maximum mileage test, continuous driving time test, braking distance test, component durability test, shock absorption test, stability test, etc. These performance tests often need to be conducted in closed areas, and the tests mainly rely on manual operation, which has significant disadvantages. Manual testing requires a large number of professional testers. They not only have to drive the test vehicle according to the predetermined scenarios and procedures, but also need to carefully observe and record various data and phenomena during driving. The labor cost is extremely high and seriously affects the efficiency of the vehicle's automatic test performance. Therefore, how to further improve the efficiency of vehicle testing and reduce testing costs is an urgent problem to be solved. Summary of the invention

[0003] In view of this, the embodiments of the present invention provide a whole vehicle testing method, device, system and storage medium, thereby solving the problem of low efficiency in whole vehicle testing.

[0004] In a first aspect, the present invention provides a whole vehicle testing method, which is applied to an external domain controller that establishes a communication connection with a test vehicle, and the method includes: obtaining vehicle control information, the vehicle control information is generated based on a preset test path and positioning information of the test vehicle, and the preset test path is used to specify the vehicle's driving route in a test site; controlling the test vehicle to drive according to the vehicle control information; and during the vehicle driving process, collecting performance data representing the test situation for the test vehicle.

[0005] According to the above technical means, the present invention establishes a communication connection with the test vehicle through an external domain controller to control the actuator on the test vehicle through the external domain controller. At the same time, the external domain controller obtains the preset test path and the vehicle's positioning information from the outside. The preset test path is drawn in advance according to the closed test site, and then the preset test path and the vehicle's positioning information are used to generate control information for the vehicle, and the vehicle is controlled to travel along the preset test path. In this process, the external domain controller collects the vehicle's performance data in real time, thereby realizing automated performance testing and significantly improving the test efficiency.

[0006] In some optional implementations, the method further includes: before acquiring the vehicle control information, establishing a communication connection with the test vehicle; and when the test is completed, disconnecting the communication connection with the test vehicle.

[0007] According to the above technical means, the external domain controller is configured as a pluggable external module, so that the external domain controller is connected to the vehicle during testing, and then disconnected after the test is completed. The external domain controller can be reused to continue testing the next test vehicle. On the one hand, for test vehicles that are often semi-finished products, there is no need to equip the vehicle with more complex automatic control software and chips, and the logical algorithms used for testing do not need to be integrated on the vehicle, which will not affect the vehicle's onboard computer, thereby achieving decoupling of testing from actual use. On the other hand, the reuse of external domain controllers also reduces testing costs.

[0008] In some optional implementations, the external domain controller also establishes a communication connection with the cloud control platform, and the method further includes: uploading the performance data to the cloud control platform, so that the cloud control platform determines the performance test results based on the performance data.

[0009] Based on the above technical means, the external domain controller will also upload the test performance data to the cloud platform, analyze the performance data through the powerful computing power of the cloud platform, determine the quality of vehicle performance, and improve the reliability of performance testing.

[0010] In some optional embodiments, obtaining vehicle control information includes: extracting a preset test path from a preset storage space of an external domain controller, or receiving a preset test path sent by a cloud control platform; receiving first positioning information sent by a positioning and navigation unit, and / or receiving second positioning information sent by the cloud control platform, the positioning and navigation unit is an external positioning and navigation device placed on the test vehicle, and the second positioning information is the test vehicle location information collected by the cloud control platform through roadside equipment installed in the test site; generating vehicle control information based on the preset test path, the first positioning information and / or the second positioning information.

[0011] According to the above technical means, the external domain controller can store the preset test path internally in advance, receive the positioning information sent externally, and generate control information according to the positioning information and the preset test path. Among them, the positioning information includes the positioning and navigation unit temporarily attached to the vehicle, and the roadside equipment (such as radar) installed on the site, so that the multi-party positioning information is integrated to significantly improve the positioning accuracy. In addition, the positioning and navigation unit and the roadside equipment are not the positioning hardware that comes with the vehicle, so the positioning and navigation unit and the roadside equipment can be reused multiple times, and the test vehicle can also be tested multiple times in a semi-finished state, which not only reduces the test cost, but also the test vehicle in a semi-finished state is also conducive to disassembly and debugging.

[0012] In some optional embodiments, obtaining vehicle control information includes: receiving vehicle control information sent by a cloud control platform, the vehicle control information is generated by the cloud control platform based on a preset test path, first positioning information and / or second positioning information, the first positioning information is sent by a positioning and navigation unit, the positioning and navigation unit is an external positioning and navigation device placed on the test vehicle, and the second positioning information is the test vehicle position information collected by the cloud control platform through roadside equipment installed in the test site.

[0013] According to the above technical means, positioning information is still obtained through positioning navigation units and roadside equipment, but the role of generating vehicle control information can be transferred to the cloud control platform. The powerful computing power of the cloud control platform can improve the computing efficiency of vehicle control information and improve the control accuracy. The external domain controller only plays the role of conveying control signals and does not make decisions itself, reducing the occupation of the already limited computing resources of the external domain controller.

[0014] In some optional embodiments, the vehicle control information is generated by the following steps: determining the starting position of the test vehicle on a preset test path based on the positioning information of the test vehicle; starting from the starting position, disassembling each straight line in the preset test path and determining the driving direction of each straight line; generating vehicle control information based on the driving direction of each straight line in the preset test path.

[0015] According to the above technical means, in the absence of positioning information, vehicle control is achieved based on route trends, which improves the risk resistance of the test process.

[0016] In some optional embodiments, during vehicle driving, the method further includes: collecting status signals, the status signals including a first status signal of an actuator in the test vehicle and a second status signal of a cloud control platform; judging whether an abnormal state occurs based on the status signals; and when an abnormal state occurs, controlling the test vehicle to perform emergency braking.

[0017] In some optional embodiments, the test vehicle is also equipped with a sensing unit, and when an abnormal condition occurs, the test vehicle is controlled to perform emergency braking, including: starting the sensing unit on the test vehicle and collecting vehicle body environment information through the sensing unit; and controlling the test vehicle to perform emergency braking according to the vehicle body environment information.

[0018] According to the above technical means, by detecting abnormal status, it means that the cloud control platform can no longer control the vehicle normally or the vehicle itself has problems, and then the external domain controller takes over the control of the vehicle and makes the vehicle emergency brake. In particular, the redundant sensing unit is turned on to observe the road conditions, and the emergency braking strategy of the automatic driving is used to control the vehicle to slowly pull over to the side of the road, which improves the safety and reliability of the test and avoids the risk of collision.

[0019] In some optional implementations, during vehicle driving, the method also includes: receiving control strategy adjustment information sent by the cloud control platform, the control strategy adjustment information is generated by the cloud control platform based on test site environmental information, and the test site environmental information is collected by roadside equipment; adjusting vehicle control information according to the control strategy adjustment information to obtain new vehicle control information; and controlling the driving of the test vehicle according to the new vehicle control information.

[0020] Based on the above technical means, the cloud control platform can also discover deficiencies in test strategies and control lines through the quality assessment module, adjust the test system in a timely manner, and improve the reliability of the test system.

[0021] In a second aspect, the present invention provides a whole vehicle testing method, which is applied to a cloud control platform, and the method includes: receiving performance data of a test vehicle sent by an external domain controller, the performance data being collected by the external domain controller during the driving process of the test vehicle, the external domain controller establishing a communication connection with the test vehicle before the test, and disconnecting the communication connection with the test vehicle after the test is completed, the test vehicle is controlled by the external domain controller through vehicle control information, the vehicle control information is generated by a preset test path and the positioning information of the test vehicle, and the preset test path is used to specify the driving route of the vehicle in the test site.

[0022] In some optional implementations, the method also includes: creating a driving route for the vehicle in the test site based on a high-definition map to obtain a preset test path; receiving second positioning information sent by a roadside device, the second positioning information is collected by the roadside device at the test site and is used to record the location information of the test vehicle; and sending the preset test path and the second positioning information to an external domain controller.

[0023] In some optional implementations, the method also includes: obtaining the maximum test sample size of the test site, and determining the test vehicles that need to be tested based on the maximum test sample size; obtaining the number of test scenarios for each test vehicle, the test site including multiple test scenarios; arranging the entry order of each test vehicle in order from small to large in terms of the number of test scenarios; during the test, receiving the test scenario status sent by the roadside equipment; analyzing the occupancy status of each test scenario based on the test scenario status; if the test scene currently scheduled to be entered by the target vehicle is occupied by other vehicles, detecting the queue number corresponding to the test scenarios that the target vehicle needs to perform, the queue number is used to indicate the number of vehicles tested before the target vehicle; the target test scene corresponding to the minimum queue number, and dispatching the target vehicle to the target test scene.

[0024] According to the above technical means, the cloud control platform can also realize the vehicle management function, and through the vehicle management function, it can further perform vehicle scheduling for the situation of simultaneous testing of multiple vehicles, so as to significantly improve the test efficiency of multi-vehicle testing.

[0025] In some optional implementations, the method further includes: receiving test site environment information sent by the roadside equipment, generating control strategy adjustment information according to the test site environment information; and sending the control strategy adjustment information to an external domain controller to adjust the vehicle control information.

[0026] In some optional embodiments, control strategy adjustment information is generated based on the test site environmental information, including: when it is detected that there is an obstacle risk in the test site according to the test site environmental information, judging the feasibility of circumventing the obstacle based on the size and position of the obstacle in the test site environmental information; when the obstacle is not circumventable, determining the emergency braking strategy as the control strategy adjustment information; when the obstacle is circumventable, determining the control strategy adjustment information as executing the obstacle circumvention strategy first, and continuing to execute the preset test path after the obstacle circumvention is successful.

[0027] In some optional embodiments, control strategy adjustment information is generated according to the test site environmental information, including: when a weather risk is detected at the test site according to the test site environmental information, estimating road friction based on the test site environmental information; calculating the collision risk between vehicles participating in the test according to the road friction; if the collision risk allows the test, for the first vehicle that has not yet entered the site, determining the control strategy adjustment information to extend the entry interval time; for the second vehicle that has already entered the site, determining the control strategy adjustment information to reduce the speed of the second vehicle, and when the second vehicle test is completed, extending the entry interval time for the next test of the second vehicle; if the collision risk does not allow the test, for the first vehicle that has not yet entered the site, determining the control strategy adjustment information to suspend entry; for the second vehicle that has already entered the site, determining the control strategy adjustment information to reduce the speed of the second vehicle, and controlling the second vehicle to leave the site.

[0028] In some optional embodiments, the method also includes: receiving an actual driving trajectory sent by a roadside device or a positioning navigation unit, the actual driving trajectory being the trajectory route actually driven by the test vehicle during the test; comparing the actual driving trajectory with a preset test path; and determining the test quality based on the difference between the actual driving trajectory and the preset test path.

[0029] Based on the above technical means, the cloud control platform can also discover deficiencies in test strategies and control lines through the quality assessment module, adjust the test system in a timely manner, and improve the reliability of the test system.

[0030] In a third aspect, the present invention provides a whole vehicle testing device, which is applied to an external domain controller that establishes a communication connection with a test vehicle, and the device includes: a control information module, which is used to obtain vehicle control information, and the vehicle control information is generated based on a preset test path and the positioning information of the test vehicle, and the preset test path is used to specify the vehicle's driving route in the test site; a vehicle control module, which is used to control the driving of the test vehicle according to the vehicle control information; a performance data extraction module, which is used to collect performance data representing the test situation for the test vehicle during the driving process of the vehicle.

[0031] In a fourth aspect, the present invention provides a whole vehicle testing device, which is applied to a cloud control platform, and the device includes: a data receiving module, which is used to receive performance data of a test vehicle sent by an external domain controller, the performance data is collected by the external domain controller during the driving process of the test vehicle, the external domain controller establishes a communication connection with the test vehicle before the test, and disconnects the communication connection with the test vehicle after the test is completed, the test vehicle is controlled by the external domain controller through vehicle control information, the vehicle control information is generated by a preset test path and the positioning information of the test vehicle, and the preset test path is used to specify the driving route of the vehicle in the test site.

[0032] In a fifth aspect, the present invention provides a whole vehicle testing system, comprising: an external domain controller, roadside equipment and a cloud control platform; the external domain controller establishes a communication connection with the test vehicle before the test, and disconnects the communication connection with the test vehicle after the test is completed, and the external domain controller and the cloud control platform have a communication connection; the roadside equipment is arranged in the test site, and is used to collect environmental information of the test site and the location of the test vehicle; the cloud control platform also establishes a communication connection with the roadside equipment; the external domain controller is used to execute any one of the methods of the first aspect, and the cloud control platform is used for any one of the methods of the second aspect.

[0033] In a sixth aspect, the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute any one of the methods of the first aspect or the second aspect.

[0034] Beneficial effects of the present invention:

[0035] (1) According to the above technical means, the present invention establishes a communication connection with the test vehicle through an external domain controller, so as to control the actuator on the test vehicle through the external domain controller. At the same time, the external domain controller obtains the preset test path and the vehicle's positioning information from the outside, and the preset test path is drawn in advance according to the closed test site, and then uses the preset test path and the vehicle's positioning information to generate control information for the vehicle, and controls the vehicle to travel along the preset test path. In this process, the external domain controller collects the vehicle's performance data in real time, thereby realizing automated performance testing and significantly improving the test efficiency.

[0036] (2) According to the above technical means, the external domain controller is configured as a pluggable external module, so that the external domain controller is connected to the vehicle during testing and disconnected after the test is completed. The external domain controller can be reused to continue testing the next test vehicle. On the one hand, for test vehicles that are often semi-finished products, there is no need to equip the vehicle with more complex automatic control software and chips, and the logical algorithms used for testing do not need to be integrated on the vehicle, which will not affect the vehicle's onboard computer, thereby achieving decoupling of testing from actual use. On the other hand, the reuse of external domain controllers also reduces testing costs.

[0037] (3) Based on the above technical means, the external domain controller also uploads the test performance data to the cloud platform, and uses the powerful computing power of the cloud platform to analyze the performance data to determine the quality of vehicle performance, thereby improving the reliability of performance testing.

[0038] (4) According to the above technical means, the external domain controller can store the preset test path internally in advance, receive the positioning information sent externally, and generate control information based on the positioning information and the preset test path. Among them, the positioning information includes the positioning and navigation unit temporarily attached to the vehicle, and the roadside equipment (such as radar) installed on the site, so that the multi-party positioning information is integrated to significantly improve the positioning accuracy. In addition, the positioning and navigation unit and the roadside equipment are not the positioning hardware that comes with the vehicle, so the positioning and navigation unit and the roadside equipment can be reused multiple times, and the test vehicle can also be tested multiple times in a semi-finished state, which not only reduces the test cost, but also the test vehicle in a semi-finished state is also conducive to disassembly, assembly and debugging.

[0039] (5) According to the above technical means, positioning information is still obtained through the positioning navigation unit and roadside equipment, but the role of generating vehicle control information can be transferred to the cloud control platform. The powerful computing power of the cloud control platform can improve the computing efficiency of vehicle control information and improve the control accuracy. The external domain controller only plays the role of transmitting control signals and does not make decisions itself, thereby reducing the occupation of the already limited computing resources of the external domain controller.

[0040] (6) According to the above technical means, in the absence of positioning information, vehicle control is achieved based on the route trend, which improves the risk resistance of the test process.

[0041] (7) According to the above technical means, by detecting abnormal conditions, it is indicated that the cloud control platform can no longer control the vehicle normally or that there is a problem with the vehicle itself, and then the external domain controller takes over the control of the vehicle and makes the vehicle emergency brake. In particular, the redundant sensing unit is turned on to observe the road conditions, and the emergency braking strategy of the autonomous driving is used to control the vehicle to slowly pull over to the side of the road, thereby improving the safety and reliability of the test and avoiding the risk of collision.

[0042] (8) Based on the above technical means, the cloud control platform can also discover the deficiencies of test strategies and control lines through the quality assessment module, adjust the test system in time, and improve the reliability of the test system.

[0043] (9) Based on the above technical means, the cloud control platform can also realize the vehicle management function, and through the vehicle management function, it can further perform vehicle scheduling for the simultaneous testing of multiple vehicles, so as to significantly improve the test efficiency of multiple vehicles.

[0044] (10) Based on the above technical means, the cloud control platform can also discover the deficiencies of test strategies and control lines through the quality assessment module, adjust the test system in time, and improve the reliability of the test system. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a flow chart of a vehicle testing method provided by an embodiment of the present invention;

[0046] Figure 2 Another schematic diagram of a flow chart of a vehicle testing method provided by an embodiment of the present invention;

[0047] Figure 3 Another flow chart of a vehicle testing method provided by an embodiment of the present invention

[0048] Figure 4 A schematic structural diagram of a vehicle testing device provided by an embodiment of the present invention;

[0049] Figure 5 Another structural schematic diagram of a whole vehicle testing device provided by an embodiment of the present invention;

[0050] Figure 6 A schematic diagram of the structure of a vehicle testing system provided by an embodiment of the present invention;

[0051] Figure 7 Another structural schematic diagram of a whole vehicle testing system provided by an embodiment of the present invention;

[0052] Figure 8 A schematic diagram of the structure of a test vehicle provided by an embodiment of the present invention;

[0053] Fig. 9 Another structural schematic diagram of a whole vehicle testing system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0055] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0056] This embodiment proposes a vehicle testing method, such as Figure 1 and Figure 2 As shown, the external domain controller is used to execute steps S101 to S106, and the cloud control platform is used to execute step S201.

[0057] Step S101, establishing a communication connection with a test vehicle;

[0058] Step S102, obtaining vehicle control information, where the vehicle control information is generated based on a preset test path and positioning information of the test vehicle, where the preset test path is used to specify a driving route of the vehicle in the test site;

[0059] Step S103, controlling the test vehicle to travel according to the vehicle control information;

[0060] Step S104 , during the driving process of the vehicle, for the test vehicle, collecting performance data representing the test situation.

[0061] Step S105, uploading the performance data to the cloud control platform.

[0062] Step S201, receiving performance data of a test vehicle sent by an external domain controller, and determining a performance test result based on the performance data.

[0063] Step S106, when the test is completed, disconnect the communication connection with the test vehicle.

[0064] Specifically, in an embodiment of the present invention, in order to realize the automation of vehicle performance testing, a preset test path of a closed test site is obtained. The preset test path refers to pre-drawn data for specifying that a vehicle travels along a specified route in the test site, and the vehicle needs to travel strictly along the preset test path.

[0065] In some embodiments, drawing a preset test path can be achieved through a high-precision map. For example, a tester manually drives a finished vehicle in a test site according to the scenario that needs to be tested. During this process, the vehicle's position is recorded in real time through a high-precision map, and then the recorded route data is stored in a memory, thereby achieving the drawing of a preset test path. Subsequent test vehicles do not need to be manually driven, but only need to be controlled by a controller to move along the preset test path. Preferably, an external domain controller can also be installed on the finished vehicle first. When the user manually drives to draw the preset test path, the preset test path can be directly entered into the external domain controller for memory.

[0066] Afterwards, during the actual test, first establish a communication connection between the external domain controller and the test vehicle. The ways to establish a communication connection include but are not limited to wired connection and wireless connection. For example, a pluggable domain controller interface is set up on the test vehicle, and the external domain controller is plugged into the interface during the test, and the external domain controller is unplugged from the interface after the test is completed. For another example, the external domain controller can be connected to the test vehicle through wireless communication means such as Bluetooth and WIFI, and the wireless communication can be disconnected after the test is completed, which can also achieve the reuse of the external domain controller.

[0067] Then, the external domain controller obtains vehicle control information, which is control instruction information used to control the vehicle to travel along a preset test path. The vehicle control information is generated based on the preset test path and the positioning information of the test vehicle. The vehicle control information can be generated by the external domain controller itself, or it can be generated by other control devices and then sent to the external domain controller. The embodiment of the present invention does not specifically limit this. Among them, the source of the positioning information of the test vehicle is not specifically limited. If the test vehicle is a finished vehicle, the positioning information can be directly obtained by using the positioning module of the test vehicle. If the test vehicle is a semi-finished vehicle, the test vehicle can be located by an external positioning device, and then the positioning information is given to the external domain controller.

[0068] Finally, the external domain controller controls the test vehicle according to the vehicle control information, and collects performance data representing the test conditions in real time during the vehicle's driving, such as the vehicle's mileage, fuel consumption, engine speed, etc., and uploads the performance data to the cloud control platform at the same time, so that the cloud control platform can analyze the quality of the vehicle based on the performance data. For vehicles with problems, the vehicle can be disassembled and adjusted in time to improve the overall performance of the vehicle.

[0069] Through the technical solution provided by the embodiment of the present invention, on the one hand, the automatic performance test of the vehicle is realized, and a large number of drivers are not required to drive manually, which improves the degree of automation of the vehicle performance test and reduces the test cost. On the other hand, the control information of the external domain controller is generated based on the preset test path. The preset test path is drawn in advance, rather than being generated in real time by the vehicle according to the environmental information collected by the camera, which eliminates the task of the external domain controller to perform path planning, releases more computing power of the external domain controller, and improves the control ability of the external domain controller, thereby improving the test reliability. On the third hand, the external domain controller establishes a connection with the test vehicle during the test, and disconnects after the test is completed, so that the external domain controller can be reused, which not only reduces the test cost, but also, especially for semi-finished vehicles with only actuators (engines, transmissions, tires, etc.), there is no need to develop software for the vehicle itself, only need to connect the external domain controller during the test, and after the test is completed, the various control algorithm deployments for the controller on the vehicle are all for actual road scenes, and are not applied to closed test sites, thereby realizing the decoupling of the two projects of testing and actual driving, avoiding the mutual influence of the vehicle software, and improving the test reliability.

[0070] In some optional implementations, step S102 includes:

[0071] Step a1, extracting a preset test path from a preset storage space of an external domain controller, or receiving a preset test path sent by a cloud control platform;

[0072] Step a2, receiving first positioning information sent by a positioning and navigation unit, and / or receiving second positioning information sent by a cloud control platform, wherein the positioning and navigation unit is an external positioning and navigation device placed on the test vehicle, and the second positioning information is the test vehicle position information collected by the cloud control platform through a roadside device installed at the test site;

[0073] Step a3: generating vehicle control information based on a preset test path, the first positioning information and / or the second positioning information.

[0074] Specifically, Figure 3As shown, vehicle control information can be generated inside the external domain controller. Among them, the preset test path can be stored in the storage space of the external domain controller in advance, or it can be remotely issued by the cloud control platform. There are two sources of positioning information. One is to attach a temporary positioning navigation unit (modular hardware for positioning navigation, such as a mountable GPS positioning module) to the test vehicle, and then obtain the first positioning information by receiving the data of the positioning navigation unit; the other is to collect the location information of the test vehicle through the roadside equipment installed near the test site, so as to obtain the second positioning information. In this embodiment, the roadside equipment includes but is not limited to cameras, millimeter wave radars, inertial measurement units, etc. Afterwards, the external domain controller determines the specific position of the test vehicle on the preset test path at each moment according to the positioning information, thereby realizing the command and control of the test vehicle and making the test vehicle travel along the preset test path.

[0075] Through the technical solution provided by the embodiment of the present invention, the external domain controller directly obtains the vehicle's positioning information and preset test path to the internal part, and generates vehicle control information in real time internally, avoiding data delays caused by passing through more communication links. The generated vehicle control information has good real-time performance, thereby improving the control quality of the test vehicle. In addition, the positioning information comes from the positioning navigation unit and the roadside equipment respectively. Positioning the test vehicle through one or two information fusions can significantly improve the positioning accuracy and avoid the problem of one positioning device being damaged and unable to locate. In addition, the positioning navigation unit and the roadside equipment are not directly installed on the vehicle. The roadside equipment is installed in the test site. The positioning navigation unit is an external patch module that can be removed at any time, further realizing the reuse of test hardware for the test tasks of semi-finished vehicles, reducing the test cost and reducing the difficulty of subsequent disassembly and assembly of semi-finished vehicles.

[0076] In some optional implementations, step S102 further includes:

[0077] Step b1, receiving vehicle control information sent by the cloud control platform, the vehicle control information is generated by the cloud control platform based on a preset test path, the first positioning information and / or the second positioning information, wherein the first positioning information is sent to the cloud control platform by a positioning and navigation unit, the positioning and navigation unit is an external positioning and navigation device placed on the test vehicle, and the second positioning information is the test vehicle position information collected by the cloud control platform through the roadside equipment installed in the test site.

[0078] Specifically, in the embodiment of the present invention, the vehicle control information is still generated by the preset test path, the first positioning information and / or the second positioning information, but the object generating the vehicle control information is changed to the cloud control platform. The data collected by the positioning navigation unit and the roadside equipment are sent to the cloud control platform, and the corresponding vehicle control information is generated through the operation control platform. Then the cloud control platform forwards the generated vehicle control information to the external domain controller to realize remote control of the test vehicle.

[0079] Through the embodiments of the present invention, on the one hand, the computing power resources of the external domain controller are saved, and the external domain controller only plays the role of relaying signal instructions. The external domain controller can be deployed with low-configuration chips to reduce testing costs; on the other hand, the vehicle is remotely controlled based on the cloud control platform, and the vehicle control information can also use other relevant data in the cloud control platform to assist in optimizing the control information (for example, adding obstacle avoidance strategies), thereby improving the accuracy of the vehicle control information and further improving the accuracy of the whole vehicle test.

[0080] In some optional implementations, the vehicle control information is generated by the following steps:

[0081] Step c1, determining the starting position of the test vehicle on a preset test path according to the positioning information of the test vehicle;

[0082] Step c2, starting from the starting position, disassembling each straight line in the preset test path, and determining the driving direction of each straight line;

[0083] Step c3, generating vehicle control information according to the driving direction of each straight line in the preset test path.

[0084] Specifically, the embodiment of the present invention also provides a vehicle control method that does not require real-time positioning. In general technology, it is necessary to determine which position of the vehicle is currently in the preset test path based on real-time positioning information, so as to determine the control strategy of the vehicle (straight, turning), but in some special scenarios (such as communication interruption of the positioning device), the positioning information may be missing, and the test cannot be continued at this time. Based on this, the embodiment of the present invention identifies each straight line in the preset test path, disassembles the preset test path into multiple straight lines, and determines the driving direction of each straight line. Then, it is only necessary to determine the starting position of the test vehicle on the preset test path through the first positioning. Since the vehicle is traveling along a straight line, the vehicle can generate vehicle control information according to the driving direction of each straight line in the preset test path. In other words, the vehicle knows the length and direction of each straight line. After the vehicle travels a predetermined distance in a predetermined direction, it adjusts the steering according to the direction of the next straight line, and then travels a predetermined distance along the length of the next straight line. In this way, the real-time positioning information is not required in the subsequent test process, and the vehicle direction can be adjusted according to the trend of the path, thereby realizing a vehicle control method that does not require positioning information.

[0085] In some optional implementations, during the driving of the vehicle, the external domain controller further performs the following steps:

[0086] Step d1, collecting status signals, where the status signals include a first status signal of an actuator in the test vehicle and a second status signal of a cloud control platform;

[0087] Step d2, judging whether an abnormal state occurs according to the state signal;

[0088] Step d3, when an abnormal state occurs, control the test vehicle to perform emergency braking.

[0089] In some optional implementations, the above step d3 includes:

[0090] Step d31, starting the sensing unit on the test vehicle and collecting vehicle body environment information through the sensing unit;

[0091] Step d32, controlling emergency braking of the test vehicle according to the vehicle body environment information.

[0092] Specifically, since the cloud control platform can control the external domain controller in an implementation scenario, the external domain controller receives the vehicle control instructions of the cloud control platform and forwards the execution signal to the actuators related to the vehicle steering, braking, power, etc. to control the normal operation of the vehicle. In this process, the external domain controller only plays the role of signal transmission, does not make any decisions, and does not perform functions such as obstacle avoidance and obstacle avoidance. It is also a low-cost improvement made to reduce the overly complex automatic driving software developed in the external domain controller. In order to ensure the safety of the test, the embodiment of the present invention will add a simple emergency processing software processing function to the external domain controller. Based on this function, the external domain controller will receive the status signal of the actuator (such as the status of the throttle, engine, and gearbox) and the status of the cloud control platform (such as the communication status of the cloud control platform) in real time, and judge whether there is an abnormality according to the status, such as damage to the throttle, engine, and gearbox, and the cloud control platform cannot communicate normally.

[0093] When the external domain controller diagnoses that the actuator or the cloud control platform is in an abnormal state, it indicates that the actuator cannot operate normally or the cloud control platform cannot control the vehicle normally. If the test continues, risks may occur. In response to this situation, the embodiment of the present invention defines that the external domain controller takes over the control of the vehicle, sends an emergency stop signal to the actuator to control the vehicle to stop urgently, and sends a fault signal to the cloud control platform at the same time. The cloud control platform receives the fault signal and issues an alarm. After the tester has troubleshooted the fault, the vehicle is restarted to start the self-test mode. When the cloud platform receives the self-test signal, it begins to re-control the vehicle for testing. For example, when the steering command angle deviation issued by the system exceeds 10° for more than 3 seconds, it is judged as abnormal and the control of the vehicle is taken over immediately. At the same time, the domain control system has its own storage module to record vehicle status data at a frequency of 10Hz.

[0094] According to the above technical means, the external domain controller detects in real time whether the status signals of the actuator, the status signals of the cloud control platform and the vehicle control instructions are abnormal. If an abnormal state occurs, it means that the cloud control platform can no longer control the vehicle normally, and then the external domain controller takes over the control of the vehicle urgently, thereby turning on the perception unit and the positioning and navigation unit, and controlling the vehicle to stop through the emergency braking strategy of the autonomous driving, thereby improving the test safety and avoiding the risk of collision.

[0095] At the same time, in some optional implementations, a small number of sensing units (such as radars or cameras) can be installed on the vehicle, which are not turned on during normal testing to save energy. When the external domain controller detects an abnormal state, it can be turned on to obtain brief environmental information near the vehicle, thereby controlling the vehicle to slowly pull over according to the road conditions and brake the vehicle without affecting other vehicle tests, further improving the reliability of the test.

[0096] In some optional implementations, in a vehicle testing method provided by the present invention, the external domain controller further performs the following steps:

[0097] Step e1, receiving control strategy adjustment information sent by the cloud control platform, where the control strategy adjustment information is generated by the cloud control platform based on test site environment information, which is collected by roadside equipment;

[0098] Step e2, adjusting the vehicle control information according to the control strategy adjustment information to obtain new vehicle control information;

[0099] Step e3, controlling the test vehicle to travel according to the new vehicle control information.

[0100] Specifically, at present, conventional performance tests only issue vehicle control commands for the vehicle's performance test destination, such as controlling the vehicle to move in a serpentine manner to determine the stability of the vehicle. This process does not care about the road conditions, resulting in a control effect that is not intelligent enough. Even if there are risks on the road ahead, the vehicle will still be directed to move forward, which is detrimental to the safety of the test. The safety monitoring module provided by the embodiment of the present invention discovers the risks in the test site environment based on the environmental information uploaded by the roadside equipment, and then adjusts the strategy for generating vehicle control commands in the cloud control platform to adapt to the latest external environment, ensuring that the vehicle's driving commands drive the vehicle to make more reasonable driving actions to avoid collision risks.

[0101] In some optional implementations, in a vehicle testing method provided by the present invention, the cloud control platform further performs the following steps:

[0102] Step f1, creating a driving route of the vehicle in the test site based on the high-definition map to obtain a preset test path;

[0103] Step f2, receiving second positioning information sent by the roadside equipment, the second positioning information is collected by the roadside equipment at the test site and is used to record the position information of the test vehicle;

[0104] Step f3, sending the preset test path and the second positioning information to the external domain controller.

[0105] In some optional implementations, in a vehicle testing method provided by the present invention, the cloud control platform further performs the following steps:

[0106] Step f4, receiving first positioning information sent by the positioning navigation unit;

[0107] Step f5, generating vehicle control information based on the preset test path, the first positioning information and / or the second positioning information;

[0108] Step f6, sending vehicle control information to the external domain controller.

[0109] For the description of the principles and beneficial effects of steps f1 to f3, reference may be made to the related descriptions of the aforementioned steps a1 to a3, which will not be repeated here.

[0110] For the description of the principles and beneficial effects of steps f4 to f6, reference may be made to the relevant description of the aforementioned step b1, which will not be repeated here.

[0111] In some optional implementations, in a vehicle testing method provided by the present invention, the cloud control platform further performs the following steps:

[0112] Step g1, obtaining the maximum test sample size of the test site, and determining the test vehicles to be tested according to the maximum test sample size;

[0113] Step g2, obtaining the number of test scenarios for each test vehicle, where the test site includes multiple test scenarios;

[0114] Step g3, arranging the entry order of each test vehicle in ascending order of the number of test scenarios;

[0115] Step g4, during the test, receiving the test scenario status sent by the roadside equipment;

[0116] Step g5, analyzing the occupancy status of each test scene according to the test scene status;

[0117] Step g6, if the test scene currently scheduled to be entered by the target vehicle is occupied by other vehicles, then the queue number corresponding to the test scene that the target vehicle needs to perform is detected, and the queue number is used to indicate the number of vehicles that are tested before the target vehicle;

[0118] Step g7, determine the target test scene corresponding to the minimum queue number, and dispatch the target vehicle to the target test scene.

[0119] Specifically, the embodiment of the present invention also provides a scheduling method for the scenario of multi-vehicle testing. Among them, the cloud control platform needs to determine the maximum test sample size of the test site, that is, the maximum number of vehicles that the test site can accommodate in one day, and then arrange the test vehicles for testing according to the maximum test sample size of the test site, thereby increasing the number of vehicles participating in the test and improving the test efficiency.

[0120] In the test site, there are often multiple test scenes, such as a serpentine curve scene for testing vehicle stability, a cobblestone scene for testing vehicle shock absorption performance, a ramp scene for testing scene climbing ability, a loop scene for testing vehicle durability, and so on. Similarly, the test scene of each test vehicle may also be different, and not every vehicle needs to test all scenes. For example, some vehicles are tested twice and three times, and only a small number of specific scenes need to be tested. Therefore, this embodiment also needs to determine the number of test scenes for each test vehicle, and then schedule the entry order of each test vehicle in the order of the number of test scenes corresponding to each vehicle from small to large. In other words, vehicles with a small number of test scenes are given priority to enter the test site, and vehicles with a large number of test scenes enter the test site later. Through this solution, vehicles with a small number of test scenes can complete the test faster, free up test space for more test scenes, and allow more test vehicles to enter the site for simultaneous testing, further improving the test efficiency.

[0121] In addition, during the test, if the test scene that the target vehicle is currently scheduled to enter is occupied by other vehicles, the cloud control platform will first determine other test scenes that the target vehicle needs to perform, and then count the queue numbers corresponding to other test scenes. The queue number is used to represent the number of vehicles tested before the target vehicle, that is, the number of vehicles waiting to be tested before the target vehicle in each scene. If a target test scene corresponding to the target vehicle is idle, the target vehicle can be dispatched directly to the target test scene. If a target test scene corresponding to the target vehicle is not idle, but the number of queued vehicles is the least, the target vehicle will be dispatched to the target test scene to queue and wait, thereby comprehensively reducing the waiting time of each vehicle at the test site and further improving the test efficiency.

[0122] In some optional implementations, in a vehicle testing method provided by the present invention, the cloud control platform further performs the following steps:

[0123] Step h1, receiving the test site environment information sent by the roadside equipment;

[0124] Step h2, generating control strategy adjustment information according to the test site environment information;

[0125] Step h3, sending the control strategy adjustment information to the external domain controller to adjust the vehicle control information.

[0126] Specifically, at present, conventional performance tests only issue vehicle control commands for the vehicle's performance test destination, such as controlling the vehicle to move in a serpentine manner to determine the stability of the vehicle. This process does not care about the road conditions, resulting in a control effect that is not intelligent enough. Even if there are risks on the road ahead, the vehicle will still be directed to move forward, which is detrimental to the safety of the test. The safety monitoring module provided by the embodiment of the present invention discovers the risks in the test site environment based on the environmental information uploaded by the roadside equipment, and then adjusts the strategy for generating vehicle control commands in the cloud control platform to adapt to the latest external environment, ensuring that the vehicle's driving commands drive the vehicle to make more reasonable driving actions to avoid collision risks.

[0127] In some optional implementations, the above step h2 includes:

[0128] Step h21, when it is detected that there is an obstacle risk in the test site according to the test site environment information, the feasibility of avoiding the obstacle is determined based on the size and position of the obstacle in the test site environment information;

[0129] Step h22, when the obstacle cannot be circumvented, determining the emergency braking strategy as control strategy adjustment information;

[0130] Step h23, when the obstacle can be circumvented, the control strategy adjustment information is determined to first execute the obstacle circumvention strategy, and after the obstacle is successfully circumvented, continue to execute the preset test path.

[0131] Specifically, under normal circumstances, the cloud control platform only controls the vehicle for testing and does not care about obstacles. For example, when controlling the vehicle to move in a serpentine manner to test vehicle volume stability, the cloud control platform algorithm only controls the vehicle to move in a serpentine manner and does not care about obstacles on the road. If obstacles such as tires and stones suddenly appear on the road, a collision may occur. Through this embodiment, the roadside equipment monitors the distance and relative speed between the vehicle and the surrounding obstacles, and predicts the possible risk of collision. When there is an obstacle within a preset distance (for example, 40m) ahead of the preset trajectory of the vehicle, the cloud control platform will first determine the feasibility of bypassing the obstacle based on the size and position information of the obstacle, and issue a bypass or parking instruction based on the feasibility of bypassing the obstacle. At the same time, the cloud performs image and sound alarms to remind personnel to clear the obstacle. After the obstacle is cleared, the test personnel will reset it on the cloud platform, and the test will continue to be executed along the original route. For example, when the cloud control platform finds that the obstacle cannot be circumvented, it updates the control algorithm to an emergency braking strategy and controls the vehicle to stop instead of continuing to serpentine. When the obstacle can be circumvented, the control algorithm is updated to an obstacle avoidance strategy, that is, the vehicle is first controlled to circumvent the obstacle without serpentine movement, and after the obstacle is successfully circumvented, it switches to the original control algorithm and continues to control the vehicle to perform the original performance test, such as continuing to serpentine movement.

[0132] In some optional implementations, the above step h2 includes:

[0133] Step h24, when it is detected that there is a weather risk at the test site according to the test site environment information, estimating the road friction based on the test site environment information;

[0134] Step h25, calculating the collision risk between the participating test vehicles according to the road friction;

[0135] Step h26, if the collision risk allows the test, for the first vehicle that has not yet entered the venue, determining the control strategy adjustment information to extend the entry interval time;

[0136] Step h27, for the second vehicle that has entered the venue, determining the control strategy adjustment information to reduce the speed of the second vehicle, and when the test of the second vehicle is completed, extending the entry interval time of the second vehicle for the next test;

[0137] Step h28: if the collision risk does not allow the test, for the first vehicle that has not yet entered the venue, the control strategy adjustment information is determined to be suspended from entering the venue;

[0138] Step h29, for the second vehicle that has entered the venue, determine the control strategy adjustment information to reduce the speed of the second vehicle and control the second vehicle to leave the venue.

[0139] Specifically, in severe weather conditions (such as heavy rain, fog, etc.), evaluate the impact of road friction changes on braking distance, and adjust the test strategy in advance to ensure safety. Based on the monitoring of rain and fog levels by vehicles or roadside equipment, for level 1 with less rain and fog (no impact on collision risk), the test plan is executed normally. For level 2 to 3 weather with heavy rain and fog before entering the venue (small impact on collision risk, test allowed), the entry interval of the test vehicle can be adjusted from 30S to 60S, and the distance between the sample vehicles is lengthened to avoid collision. For level 2 to 3 rain and fog weather during the test, the speed of all vehicles can be reduced by 30%, and all vehicles will stop after returning to the entry point, and then start the test at a time interval of 60S, and the test record of the previous lap will be invalidated. For severe rain and fog weather of level 3 or above before entering the venue (collision risk does not allow testing), the test can be suspended. For severe weather of level 3 or above during the test, the algorithm strategy can be adjusted to reduce the speed of all vehicles to 10kph and leave the venue slowly. In addition, safety monitoring also includes intrusion detection of the test area to prevent unrelated personnel or vehicles from breaking into the test site and causing accidents.

[0140] Through the technical solution provided by the embodiment of the present invention, during the vehicle testing process, the cloud control platform can also perform risk analysis based on the data collected by the road test equipment, and adaptively adjust the test algorithm and test strategy of the cloud control platform to generate new vehicle control commands, thereby significantly improving the safety of vehicle performance testing.

[0141] In some optional implementations, in a vehicle testing method provided by the present invention, the cloud control platform further performs the following steps:

[0142] Step I1, receiving an actual driving trajectory sent by a roadside device or a positioning navigation unit, where the actual driving trajectory is the trajectory route that the test vehicle actually drives during the test process;

[0143] Step I2, comparing the actual driving trajectory with the preset test path;

[0144] Step I3, determining the test quality based on the difference between the actual driving trajectory and the preset test path.

[0145] Specifically, the actual driving trajectory can be located and mapped through the positioning and navigation units of the roadside equipment and the vehicle, and the cloud control platform obtains the preset ideal trajectory of the vehicle according to the vehicle control instructions. Then the actual driving trajectory and the preset ideal trajectory are analyzed for deviations. The trajectory coincidence analysis can refer to the Manhattan analysis method in the coordinate system to calculate the weighted average of the distances of the trajectory subdivision points. If the average value is ≤1m (only 1m is used as an example, not limited to this, and the specific indicators can be calibrated), the test quality is considered qualified, otherwise it is considered unqualified; at the same time, the test quality is evaluated based on the statistical analysis of multiple test results. If the test quality is unqualified, problems in the communication link, test algorithm, etc. are checked in time to further improve the reliability of the test plan.

[0146] like Figure 4 As shown, this embodiment also provides a vehicle testing device, which is applied to an external domain controller that establishes a communication connection with a test vehicle, and the device includes:

[0147] A control information module 301 is used to obtain vehicle control information, where the vehicle control information is generated based on a preset test path and positioning information of the test vehicle, where the preset test path is used to specify a driving route of the vehicle in the test site;

[0148] The vehicle control module 302 is used to control the driving of the test vehicle according to the vehicle control information;

[0149] The performance data extraction module 303 is used to collect performance data representing the test situation for the test vehicle during the driving process of the vehicle.

[0150] In some optional implementations, the external domain controller also establishes a communication connection with the cloud control platform, and the device further includes:

[0151] The data upload module is used to upload the performance data to the cloud control platform so that the cloud control platform can determine the performance test results based on the performance data.

[0152] In some optional embodiments, during the driving of the vehicle, the device further comprises:

[0153] A state acquisition module, used to acquire state signals, the state signals including a first state signal of an actuator in a test vehicle and a second state signal of a cloud control platform;

[0154] An abnormality detection module, used to determine whether an abnormal state occurs according to the state signal;

[0155] The brake module is used to control the emergency braking of the test vehicle when an abnormal condition occurs.

[0156] In some optional implementations, the test vehicle is also equipped with a sensing unit and a braking module, including:

[0157] A perception start unit is used to start the perception unit on the test vehicle and collect vehicle body environment information through the perception unit;

[0158] The brake unit is used to control the emergency braking of the test vehicle according to the vehicle body environment information.

[0159] In some optional embodiments, during the driving of the vehicle, the device further comprises:

[0160] An adjustment information receiving module is used to receive control strategy adjustment information sent by the cloud control platform. The control strategy adjustment information is generated by the cloud control platform based on the test site environment information, and the test site environment information is collected by the roadside equipment;

[0161] An adjustment module, used for adjusting the vehicle control information according to the control strategy adjustment information to obtain new vehicle control information;

[0162] The continuing control module is used to control the driving of the test vehicle according to the new vehicle control information.

[0163] In some optional embodiments, it also includes:

[0164] A communication establishment module, used to establish a communication connection with the test vehicle before obtaining vehicle control information;

[0165] The communication disconnection module is used to disconnect the communication connection with the test vehicle when the test is completed.

[0166] like Figure 5 As shown, this embodiment also provides a vehicle testing device, which is applied to a cloud control platform, and the device includes:

[0167] The data receiving module 401 is used to receive the performance data of the test vehicle sent by the external domain controller. The performance data is collected by the external domain controller during the driving process of the test vehicle. The external domain controller establishes a communication connection with the test vehicle before the test and disconnects the communication connection with the test vehicle after the test is completed. The test vehicle is controlled by the external domain controller through vehicle control information. The vehicle control information is generated by a preset test path and the positioning information of the test vehicle. The preset test path is used to specify the driving route of the vehicle in the test site.

[0168] In some optional embodiments, the device further comprises:

[0169] A path generation module is used to create a driving route for the vehicle in the test site based on the high-definition map to obtain a preset test path;

[0170] A second positioning information receiving module is used to receive second positioning information sent by the roadside device, the second positioning information is collected by the roadside device at the test site and is used to record the position information of the test vehicle;

[0171] The positioning information sending module is used to send a preset test path and the second positioning information to an external domain controller.

[0172] In some optional embodiments, the device further comprises:

[0173] A sample determination module is used to obtain the maximum test sample size of the test site and determine the test vehicles that need to be tested according to the maximum test sample size;

[0174] A scenario determination module is used to obtain the number of test scenarios for each test vehicle, and the test site includes multiple test scenarios;

[0175] The sequential scheduling module is used to arrange the entry order of each test vehicle in the order of the number of test scenarios from small to large;

[0176] The scenario status module is used to receive the test scenario status sent by the roadside equipment during the test;

[0177] An occupancy detection module is used to analyze the occupancy status of each test scene according to the test scene status;

[0178] A queue detection module is used to detect the queue number corresponding to the test scene that the target vehicle needs to perform if the test scene currently scheduled to be entered by the target vehicle is occupied by other vehicles. The queue number is used to indicate the number of vehicles that are tested before the target vehicle.

[0179] The scenario allocation module is used to determine the target test scenario corresponding to the minimum queue number and dispatch the target vehicle to the target test scenario.

[0180] In some optional embodiments, the device further comprises:

[0181] An environmental detection module is used to receive the test site environmental information sent by the roadside equipment;

[0182] An adjustment strategy generation module is used to generate control strategy adjustment information according to the test site environment information;

[0183] The adjustment strategy sending module is used to send the control strategy adjustment information to the external domain controller to adjust the vehicle control information.

[0184] In some optional implementations, the adjustment strategy generation module includes:

[0185] The obstacle avoidance detection module is used to determine the feasibility of obstacle avoidance based on the size and position of the obstacle in the test site environment information when it is detected that there is an obstacle risk in the test site according to the test site environment information;

[0186] An emergency braking module is used to determine the emergency braking strategy as control strategy adjustment information when the obstacle cannot be circumvented;

[0187] The obstacle avoidance module is used to determine the control strategy adjustment information to first execute the obstacle avoidance strategy when the obstacle can be avoided, and continue to execute the preset test path after the obstacle is successfully avoided.

[0188] In some optional implementations, the adjustment strategy generation module includes:

[0189] A friction detection module, for estimating road friction based on the test site environment information when it is detected that there is a weather risk at the test site according to the test site environment information;

[0190] A risk detection module, used to calculate the collision risk between the participating test vehicles based on the road friction;

[0191] A first adjustment module is used for determining, for a first vehicle that has not yet entered the venue, that the control strategy adjustment information is to extend the entry interval time if the collision risk allows the test;

[0192] A second adjustment module is used to determine, for a second vehicle that has entered the venue, that the control strategy adjustment information is to reduce the speed of the second vehicle, and to extend the entry interval time of the second vehicle for the next test when the second vehicle test is completed;

[0193] A third adjustment module is used for determining, for a first vehicle that has not yet entered the venue, that the control strategy adjustment information is to suspend entry if the collision risk does not allow the test;

[0194] The fourth adjustment module is used to determine the control strategy adjustment information for the second vehicle that has entered the venue to reduce the speed of the second vehicle and control the second vehicle to leave the venue.

[0195] In some optional embodiments, the device further comprises:

[0196] The actual trajectory module is used to receive the actual driving trajectory sent by the roadside equipment or the positioning navigation unit. The actual driving trajectory is the trajectory route that the test vehicle actually drives during the test process;

[0197] A comparison module, used to compare the actual driving trajectory with the preset test path;

[0198] The test quality assessment module is used to determine the test quality based on the difference between the actual driving trajectory and the preset test path.

[0199] The further functional description of the above modules and units is the same as that of the corresponding embodiment of the above method, which will not be repeated here.

[0200] This embodiment proposes a vehicle testing system. Figure 6 As shown, it includes: an external domain controller, a roadside device and a cloud control platform; the external domain controller establishes a communication connection with the test vehicle before the test, and disconnects the communication connection with the test vehicle after the test is completed, and the external domain controller and the cloud control platform have a communication connection; the roadside device is set in the test site, and is used to collect environmental information of the test site and the location of the test vehicle; the cloud control platform also establishes a communication connection with the roadside device; the external domain controller and the cloud control platform are used in the method provided in the aforementioned method embodiment.

[0201] Specifically, in this embodiment, the test vehicle can include both finished test vehicles and semi-finished test vehicles. Semi-finished test vehicles are usually only equipped with steering wheels, engines, gearboxes, wheels, transmission mechanisms, accelerators, brakes and other actuators to ensure that the vehicle has the driving function, while additional devices such as vehicle controllers, on-board computers and various sensors to enhance driving capabilities are not required to be installed. The purpose of this is to facilitate disassembly and modification of the vehicle after the vehicle performance test if the test does not meet the standards.

[0202] Under this condition, in order to realize the automated testing of the whole vehicle, the whole vehicle testing system provided by the embodiment of the present invention also includes an external domain controller, roadside equipment and a cloud control platform.

[0203] The roadside equipment is installed in the test site. The roadside equipment includes radar, camera and other equipment that can collect test site environment information and vehicle information. The environment information refers to information about the driving environment such as lane lines, obstacles, weather, etc. The vehicle information refers to information such as the appearance, characteristics, and driving parameters of the vehicle. In some optional implementations, such as Figure 7As shown, the roadside equipment provided by the present invention includes a camera, a millimeter wave radar, a fill light and a multi-access edge computing unit. The high-definition camera is reasonably arranged along the test road, has high resolution, wide dynamic range and good low-light performance, and can capture the road scene image during the driving process of the test vehicle in real time, including lane line markings, traffic signs, the position and driving status of other vehicles, pedestrian activities and other information. The image data collected by the camera is transmitted to the multi-access edge computing unit through a data transmission line, providing a rich source of visual information for the cloud control platform, assisting it in environmental perception and decision-making, and also providing an important basis for scene recording and subsequent analysis during the test process. Millimeter wave radar: Installed at a key position on the test road, using electromagnetic waves in the millimeter wave frequency band to detect the surrounding environment of the test vehicle, it can accurately measure the distance, relative speed and angle information between the target object and the test vehicle, and effectively detect the presence of other vehicles, pedestrians or obstacles. Especially in severe weather conditions (such as rain, fog, dust, etc.), the millimeter wave radar can still maintain a high detection performance, providing a reliable environmental perception data supplement for the cloud control platform, enhancing the system's ability to respond in complex environments, and ensuring the safety and accuracy of the test. In order to ensure that the camera can capture images clearly in low light or at night, a traffic fill light is installed near the camera. The fill light adopts an intelligent control method to automatically adjust the brightness according to the ambient light intensity, which not only ensures the imaging quality of the camera, but also avoids visual interference to other road users due to strong light. Its stable light output helps to improve the stability and reliability of the visual perception of the vehicle-road-cloud system, so that the test can be carried out smoothly under different lighting conditions and comprehensively test the performance of the system. Among them, the multi-access edge computing unit is connected to the camera, millimeter-wave radar and fill light respectively. The multi-access edge computing unit (MEC) is deployed on the roadside and has powerful data processing and storage capabilities. It can process the data collected by roadside sensors such as cameras and millimeter-wave radars in real time, such as data fusion, target recognition and tracking, etc., to reduce the computing burden on the cloud and vehicle side and reduce data transmission delay. The MEC module can also send early warning information or auxiliary decision-making information to nearby test vehicles in a timely manner based on the processing results. For example, it can plan detour routes in advance and inform vehicles when the road ahead is congested, thereby improving the response speed and overall performance of the vehicle-road-cloud system and enhancing the authenticity and complexity of the test scenario. The cameras, millimeter-wave radars and other perception devices in the roadside equipment collect data in real time. After the MEC module integrates and preliminarily processes these perception data, it uploads the data to the cloud platform through the road-cloud gateway. These data include road environment information, dynamic information of other vehicles and pedestrians, etc., providing basic data support for the cloud platform's monitoring and decision-making, so that the cloud platform can fully grasp the test scenario status and conduct corresponding analysis and scheduling.In addition, the MEC module also includes message middleware such as Cyber ​​and MQTT, which supports multiple message transmission protocols, making it easier to connect to the cloud control platform. In a specific embodiment, cameras can be installed at key locations such as bends, intersections, and simulated dangerous areas according to the terrain of the closed site and the layout of the test scene to ensure coverage of all key test sections. The camera is installed at a height of 3 to 5 meters from the ground, and the angle is adjusted so that the horizontal viewing angle range is 120° to 150° and the vertical viewing angle range is 30° to 60° to ensure that clear images can be captured. The fill light is kept at a distance of 0.5 to 1 meter from the camera, and the light intensity adjustment range is set to 0lux to 10,000lux. According to the feedback from the ambient light sensor, real-time intelligent dimming is performed. The MEC module is deployed in the machine room at the edge of the site, and the various sensing devices are connected with high-speed optical fiber to ensure rapid data transmission and processing.

[0204] The external domain controller is a domain control module deployed separately externally, which includes communication functions and can communicate remotely with the cloud control platform. The test vehicle can establish a communication connection with the external domain controller. Among them, the ways to establish a communication connection include but are not limited to wired connection and wireless connection. For example, a pluggable domain controller interface is set on the test vehicle, and the external domain controller is inserted into the interface during the test, and the external domain controller is unplugged from the interface after the test is completed. For another example, the external domain controller can be connected to the test vehicle through wireless communication means such as Bluetooth and WIFI, and the wireless communication can be disconnected after the test is completed, which can also achieve the reuse of the external domain controller.

[0205] The cloud control platform refers to the control platform implemented based on the cloud server. The cloud control platform deploys algorithms such as path planning, target recognition, automatic control, and data analysis to control the test vehicle's autonomous driving functions. At the same time, performance analysis is performed based on the test vehicle's driving data to complete the performance test.

[0206] Based on the above-mentioned vehicle testing system, the embodiment of the present invention can execute the above-mentioned steps S101 to S106 and the method of step S201.

[0207] The test team conducts a detailed inventory of all vehicles participating in the test, and enters basic information such as the brand, model, frame number, and purchase time of each vehicle into the cloud control platform. Each type of sensor, communication, and data acquisition equipment is labeled with a unique label containing the equipment number, purchase date, and calibration cycle. Invite test engineers, data analysts, and other relevant personnel to fill out detailed job information forms and create exclusive accounts for them. Pre-lay optical fiber networks and wireless base stations in closed areas to ensure communication between data acquisition equipment and storage servers. Lay out roadside equipment to ensure the collection of vehicle information. After the above preparations are completed, the user manually inserts the external domain controller into the domain control communication terminal of the test vehicle and starts the above performance test process.

[0208] According to the above technical means, for a semi-finished test vehicle that is only equipped with an actuator, when the external domain controller is connected to the domain control communication terminal, the actuator on the test vehicle can be controlled by the external domain controller. At the same time, the present invention installs multiple roadside devices at the test site, and locates, identifies and tracks the test vehicle through the roadside devices, thereby uploading the vehicle's location information, the environmental information of the test site, etc. to the cloud control platform. The cloud control platform analyzes the information uploaded by the roadside device to execute the algorithms of target recognition, path planning and positioning navigation, thereby generating vehicle control instructions, and sending the vehicle control instructions to the domain control communication terminal, so that the external domain controller executes the vehicle control instructions, and realizes the remote control of the cloud control platform over the external domain controller, and then the external domain controller controls the actuator of the test vehicle in response to the vehicle control instructions, so as to realize the remote control of the test vehicle by the cloud control platform, and make the test vehicle perform the preset driving action.

[0209] During the test vehicle driving process, the external domain controller collects various performance parameters of the device under test, such as vehicle speed, braking distance, shell deformation, engine speed, etc. The collected performance parameters are uploaded to the cloud control platform again through the external domain controller. The cloud control platform records the performance parameters and analyzes the performance of the vehicle based on the performance parameters, thereby realizing the automated testing of vehicle performance.

[0210] Through the technical solution provided by the embodiment of the present invention, various complex sensors do not need to be installed on the test vehicle, and autonomous driving software does not need to be deployed, and the automatic control logic of the vehicle is completely implemented in the cloud. The signal is transmitted to the corresponding vehicle actuator through the external domain controller. Moreover, when the test is completed, the user can unplug or disconnect the external domain controller from the test vehicle, and then insert the external domain controller into the next test vehicle for reuse, which not only reduces the complex disassembly and assembly operations during subsequent vehicle modification, but also reduces the number of domain controllers produced. There is no need to equip each vehicle with an external domain controller for testing, which significantly improves the efficiency of multiple cycle tests, and when there are many test vehicles, the effect of reducing the test time is particularly obvious.

[0211] In some optional embodiments, the external domain controller is also used to collect status signals of the actuator and the status signals of the cloud control platform; the test vehicle is also equipped with a perception unit and a positioning and navigation unit, which are used to operate according to the startup command of the external domain controller. The startup command is generated when the external domain controller detects an abnormal state, and the abnormal state is determined by the status signal of the actuator, the status signal of the cloud control platform and the vehicle control instruction.

[0212] Specifically, the status signals of the actuator and the cloud control platform refer to whether the signal can be sent normally, transmitted normally, whether the transmission message is correct, etc., and are used to indicate the data status and the working status of the device. In order to improve the reliability of the test, in this embodiment, a small number of perception units and positioning navigation units can be installed on the test vehicle, and a domain control system can be deployed in the external domain controller. In addition to receiving the control of the cloud control platform, the external domain controller also performs potential anomaly detection on the status signal in the background through the domain control system. The purpose is to take over the control of the vehicle in time when an abnormal state is detected, control the emergency braking of the vehicle, and avoid the risk of collision.

[0213] Therefore, the above-mentioned vehicle testing system can also execute the methods provided in the above-mentioned steps a1 to a3, b1 and steps d1 to d3.

[0214] In an alternative embodiment, if Figure 8 As shown in the figure, the positioning and navigation unit and the external domain controller are both arranged in the trunk. The core purpose of the positioning and navigation unit is to provide centimeter-level high-precision positioning data for the entire test system. In some cases, the cloud control platform can also plan the optimal driving path of the vehicle based on the precise location information provided by the positioning and navigation unit, combined with the road environment data uploaded by the road test system, and send pre-control instructions to the vehicle in advance when necessary to ensure the safety and efficiency of vehicle driving. The positioning and navigation unit is connected to the vehicle power supply and data bus. After 30 minutes of preheating, it completes the signal lock with the satellite system and starts to continuously output high-precision location data, which is uploaded to the cloud in real time through the vehicle cloud gateway. The positioning and navigation unit device is installed on a stable bracket in the trunk, and the external domain controller is installed in a dedicated chassis in the trunk that is heat-insulated and moisture-proof, which is convenient for the disassembly and modification of the vehicle. At the same time, the initial configuration of the external domain controller is completed, and the encryption protocol and heartbeat detection mechanism for communication with the cloud are set to ensure communication security and stability.

[0215] In some optional embodiments, such as Fig. 9 As shown, the cloud control platform includes: a vehicle management module, which is used to manage vehicle information and generate vehicle scheduling strategies during the test; a device management module, which is used to manage the information of sensor equipment and roadside equipment; a user management module, which is used to manage the information and permissions of test participants; and a data management module, which is used to store data collected by roadside equipment and generate vehicle control instructions based on the data collected by roadside equipment.

[0216] Specifically, according to the above-mentioned technical means, the cloud control platform provided by the embodiment of the present invention can also realize vehicle management function, equipment management function, user management function and data management function.

[0217] Among them, the vehicle management module is used to comprehensively control the vehicles participating in the test. The vehicle management module includes vehicle registration, recording of vehicle model, technical parameters, initial status and other information. The vehicle management module also includes vehicle scheduling, reasonably allocating vehicles to different test scenarios and time periods according to the test scenario requirements and vehicle availability, and arranging the test according to the maximum sample size according to the test sample size regulations of the closed test site. The order of vehicle entry is based on the test magnitude in ascending order, and the vehicle with the smallest test magnitude is given priority. During the test, the time interval between the entry of the sample vehicles is set to ensure that there is no interference during the test. For the temporary scheduling of problem vehicles, they need to leave the site after completing a test scenario or leave the site by a trailer; the vehicle management module also includes the formulation and execution tracking of vehicle maintenance plans to ensure that the vehicle is always in good operating condition during the test, and handle vehicle failures and abnormal conditions in a timely manner to ensure the continuity and safety of the test.

[0218] Among them, the equipment management module is responsible for the management of various types of equipment required for testing. It includes classifying and registering equipment, such as sensors (lidar, cameras, millimeter-wave radar, etc.), communication equipment, data acquisition equipment, etc., and recording equipment specifications, performance indicators, calibration cycles, etc. in detail; it also includes calibration and maintenance of equipment, calibrating equipment according to the prescribed time and standards to ensure the accuracy of equipment measurement data, and performing daily maintenance and fault repairs on equipment to extend equipment life and improve equipment efficiency; it also includes inventory management of equipment, real-time grasp of equipment inventory quantity, storage location and other information, and timely allocation of equipment resources according to test needs to avoid equipment shortages or idle waste.

[0219] Among them, the user management module is used to manage the information of various users participating in the test. Although this embodiment provides a whole vehicle test system, a small number of people are also required to participate in the startup and maintenance of the system. Therefore, the personnel used for management include test engineers, data analysts, system administrators, etc. The user management module is used to create user accounts and assign permissions, and grant corresponding operation permissions according to the roles and responsibilities of different users, such as test engineers have the right to start and stop the test process, data analysts have the right to access and analyze test data, and system administrators have the right to perform system settings and user management, etc.; it also includes the function of tracking user operation records, such as detailed records of all operations of users in the test system for traceability and auditing, to ensure the compliance and security of the test process; it also includes training and support for users, providing operation training for new users, helping users to become familiar with the use of the test system, and providing technical support and solutions for problems encountered by users during use.

[0220] Among them, the data management module is used to build a complete data management system. It includes data collection and storage. Through sensors and data collection equipment distributed around the test vehicle and the test road, all kinds of data in the test process are collected comprehensively, including vehicle operation data (speed, acceleration, steering angle, etc.), environmental data (weather conditions, road terrain, etc.), system data (decision data and perception data of the vehicle-road-cloud system), and these data are classified and stored, and an efficient data indexing mechanism is established to facilitate rapid retrieval and call of data; including data cleaning and preprocessing, cleaning the collected raw data, removing noise data, abnormal data and duplicate data, and preprocessing the data, such as data format conversion, data normalization, etc., to improve data quality and lay the foundation for subsequent data analysis and mining; including data analysis and visualization, using data analysis algorithms and tools to conduct in-depth analysis of preprocessed data, generate vehicle control instructions and extract key performance indicators, such as extracting key performance indicators including perception accuracy, decision error rate, control stability, etc. of the vehicle-road-cloud system, and visualize the analysis results in an intuitive chart form, so that testers can quickly understand and evaluate system performance.

[0221] Through the above modules, the embodiments of the present invention further improve the functions of the cloud control platform, thereby improving the reliability of the cloud control platform.

[0222] In particular, for the vehicle management function, it is possible to perform vehicle scheduling when multiple vehicles are tested simultaneously, so as to significantly improve the test efficiency of multi-vehicle testing.

[0223] In some optional implementations, the cloud control platform also includes a business layer, and the business layer also includes a conventional monitoring module, a test quality module, a safety monitoring module, a test scheduling module, and a control quality module. The conventional monitoring module is used to monitor the data collected by the roadside equipment and the process data of the cloud control platform, and to alarm abnormal data according to the monitoring results; the test quality module is used to evaluate the test quality according to the difference between the driving purpose of the vehicle control instruction and the actual driving effect of the test vehicle; the safety monitoring module is used to determine the driving risk according to the environmental information collected by the roadside equipment, and adjust the test strategy according to the driving risk; the test scheduling module is used to arrange the execution order and execution time allocation of the test tasks; the control quality module is used to evaluate the control quality according to the difference between the vehicle control instruction and the response signal in the test vehicle.

[0224] Specifically, the routine monitoring module is used to continuously monitor the routine operating parameters and status of the vehicle-road-cloud system during the test. For example, real-time monitoring of the vehicle's speed, heading angle, the working status of each sensor (such as the scanning frequency of the lidar, the image clarity of the camera, etc.), and the system's software running process. Once any parameter is found to be out of the normal range or an abnormal signal appears in the system, an alarm is immediately triggered and relevant data is recorded for subsequent analysis of the cause of the failure to improve the reliability of the test system.

[0225] The test quality module is used to establish a complete test quality assessment mechanism. By comparing the actual driving trajectory of the test vehicle in different test scenarios with the preset ideal trajectory, it can determine whether the system performance is stable and whether there are random errors or systematic deviations, thereby providing a basis for optimizing the test process and improving the system.

[0226] The safety monitoring module is used to ensure the safety of vehicles and road facilities during the test process as the primary task. It uses multi-source sensor data fusion technology to provide comprehensive warnings of potential dangers around the test vehicle. If danger is found, the algorithm for controlling the vehicle is adjusted in a timely manner to prevent the cloud control platform from controlling the vehicle to drive without paying attention to risks and causing irreparable losses.

[0227] The test scheduling module is used to reasonably arrange the execution order and time allocation of test tasks according to the test plan and resource status. The optimal test scheduling plan is formulated by comprehensively considering the availability of test vehicles, equipment maintenance cycle, complexity of test scenarios, and environmental factors such as weather.

[0228] The control quality module is used to judge the control quality of the system by analyzing the degree of match between the actual response of the vehicle during acceleration, deceleration, steering and other operations and the expected instructions, as well as the stability of the vehicle during driving (such as the rate of change of acceleration, smoothness of steering, etc.), so as to determine whether there are problems with the system's signal transmission, signal reception and transmission, and signal messages. Using high-precision sensor data and professional control performance analysis algorithms, the control performance of the system under different road conditions (such as straight driving, curve driving, ramp driving, etc.) and traffic conditions (such as congestion, smooth traffic, etc.) is quantitatively evaluated to provide key data support for the optimization of the system control algorithm.

[0229] In addition, the cloud control platform also includes a test management module, which is responsible for the organization, planning and coordination of the entire test project. Develop a detailed test plan and clarify the test objectives, scope, methods and schedule.

[0230] In some optional embodiments, the cloud control platform provided by the present invention also includes an access layer, wherein the access layer mainly includes a road-cloud gateway for wireless communication with roadside equipment, and a vehicle-cloud gateway for wireless communication with a test vehicle.

[0231] Among them, the Road-Cloud Gateway serves as the key connection hub between road test facilities and cloud servers. On the one hand, it is responsible for summarizing and organizing the data collected by various sensors deployed at road test sites (such as traffic flow monitoring sensors, meteorological monitoring sensors, high-precision positioning base stations, etc.), and collecting them to the cloud server according to the predetermined communication protocol and data format. These data will provide comprehensive road environment information for the cloud test management system, assist it in optimizing and adjusting the test scenarios and remote dispatching and commanding test vehicles. On the other hand, the Road-Cloud Gateway receives control instructions and configuration parameters issued by the cloud server, such as parameter adjustment instructions for test equipment on specific sections, switching instructions for test scenarios, etc., and distributes them accurately to the corresponding roadside equipment to ensure that the information interaction between road test facilities and the cloud is real-time, efficient and stable.

[0232] Among them, the vehicle-to-cloud gateway mainly realizes the two-way communication connection between the test vehicle and the cloud. On the vehicle side, the vehicle-to-cloud gateway collects various key data during the operation of the vehicle-to-road cloud system, including the vehicle's own status information (such as vehicle speed, engine speed, fault code, etc.), the decision data of the vehicle-to-road cloud system (such as target path planning, obstacle avoidance strategy, etc.) and sensor perception data (such as lidar point cloud data, camera image data, etc.), and uploads these data to the cloud after preliminary compression and encryption. In the cloud, the vehicle-to-cloud gateway receives remote control instructions from the cloud server, such as instructions to limit the vehicle's driving speed, start / stop instructions for the vehicle-to-road cloud system functional modules, etc., and transmits them safely and reliably to the control system inside the vehicle to realize remote monitoring and operation of the test vehicle. At the same time, the vehicle-to-cloud gateway is also responsible for heartbeat detection and connection maintenance between the vehicle and the cloud, ensuring that the communication link between the two is always unobstructed when the vehicle is driving at high speed or in a complex network environment, providing a solid guarantee for the smooth progress of unmanned testing.

[0233] In some optional embodiments, the whole vehicle test system provided by the present invention adopts low-latency network communication, such as 5G network. The 5G network is used as an example for detailed description below. The domain control communication terminal, roadside equipment and cloud control platform communicate wirelessly based on the 5G gateway. At the same time, a high-precision map is also deployed in the cloud control platform.

[0234] Specifically, high-precision maps provide the vehicle-road-cloud system with high-precision road map data, including detailed information such as the precise shape of the road, slope, curvature, lane line position, and the location of traffic signs and signal lights. During the test, the vehicle system combines high-precision map data with data sensed by its own sensors to more accurately perform positioning, path planning, and decision-making. For example, the vehicle-road-cloud system can know the curve information of the road ahead in advance based on the high-precision map, so as to adjust the vehicle speed and steering angle in advance to improve driving safety and comfort. At the same time, high-precision map data also helps the cloud platform simulate and optimize test scenarios, providing more comprehensive information support for test scheduling and management.

[0235] The construction of the 5G gateway is specifically designed for the 5G network environment of unmanned testing of the vehicle-road-cloud system, ensuring high-speed, low-latency and high-reliability data transmission. In the road test system, a large amount of data collected by equipment such as cameras and millimeter-wave radars can be quickly uploaded to the cloud platform through the 5G private network, reducing data transmission delays and ensuring that the cloud platform can obtain the latest road environment information in a timely manner and make corresponding decisions. Between the vehicle system and the cloud platform, the 5G private network can stably transmit the vehicle's location data, operating status data, and decision data issued by the cloud platform, ensuring real-time communication between the vehicle and the cloud, meeting the strict requirements of the vehicle-road-cloud system for the timeliness and accuracy of data interaction, and effectively improving the performance and response speed of the entire test system.

[0236] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the implemented program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0237] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle testing method, characterized in that: An external domain controller used to establish a communication connection with a test vehicle, the method comprising: Acquiring vehicle control information, wherein the vehicle control information is generated based on a preset test path and positioning information of the test vehicle, wherein the preset test path is used to specify a driving route of the vehicle in the test site; Controlling the test vehicle to travel according to the vehicle control information; During the driving of the vehicle, performance data representing the test situation is collected for the test vehicle.

2. The method according to claim 1, characterized in that The external domain controller also establishes a communication connection with the cloud control platform, and the method further includes: The performance data is uploaded to the cloud control platform so that the cloud control platform determines the performance test result based on the performance data.

3. The method according to claim 2, characterized in that The obtaining of vehicle control information includes: Extracting the preset test path from the preset storage space of the external domain controller, or receiving the preset test path sent by the cloud control platform; Receiving first positioning information sent by a positioning and navigation unit, and / or receiving second positioning information sent by the cloud control platform, wherein the positioning and navigation unit is an external positioning and navigation device placed on the test vehicle, and the second positioning information is the test vehicle position information collected by the cloud control platform through a roadside device installed at the test site; The vehicle control information is generated based on the preset test path, the first positioning information and / or the second positioning information.

4. The method according to claim 2, characterized in that: The obtaining of vehicle control information includes: Receive the vehicle control information sent by the cloud control platform, the vehicle control information is generated by the cloud control platform based on the preset test path, the first positioning information and / or the second positioning information, the first positioning information is sent by the positioning and navigation unit, the positioning and navigation unit is an external positioning and navigation device placed on the test vehicle, and the second positioning information is the test vehicle location information collected by the cloud control platform through the roadside equipment installed in the test site.

5. The method according to claim 3 or 4, characterized in that: The vehicle control information is generated by the following steps: Determining a starting position of the test vehicle on the preset test path according to the positioning information of the test vehicle; Starting from the starting position, disassembling each straight line segment in the preset test path, and determining the driving direction of each straight line segment; The vehicle control information is generated according to the driving direction of each straight line in the preset test path.

6. The method according to claim 3 or 4, characterized in that: During the vehicle driving process, the method further includes: Collecting status signals, wherein the status signals include a first status signal of an actuator in the test vehicle and a second status signal of the cloud control platform; Determining whether an abnormal state occurs according to the state signal; When an abnormal state occurs, the test vehicle is controlled to perform emergency braking.

7. The method according to claim 6, characterized in that The test vehicle is also equipped with a sensing unit, and when an abnormal state occurs, the test vehicle is controlled to perform emergency braking, including: Starting a sensing unit on the test vehicle and collecting vehicle body environment information through the sensing unit; The test vehicle is controlled to perform emergency braking according to the vehicle body environment information.

8. The method according to claim 3 or 4, characterized in that: During the vehicle driving process, the method further includes: receiving control strategy adjustment information sent by the cloud control platform, wherein the control strategy adjustment information is generated by the cloud control platform according to test site environment information, and the test site environment information is collected by the roadside equipment; Adjust the vehicle control information according to the control strategy adjustment information to obtain new vehicle control information; The test vehicle is controlled to travel according to the new vehicle control information.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: Before the acquiring of the vehicle control information, establishing a communication connection with the test vehicle; When the test is complete, the communication connection with the test vehicle is disconnected.

10. A vehicle testing method, characterized in that: Applied to the cloud control platform, the method includes: Receive performance data of the test vehicle sent by an external domain controller, the performance data is collected by the external domain controller during the driving process of the test vehicle, the external domain controller establishes a communication connection with the test vehicle before the test, and disconnects the communication connection with the test vehicle after the test is completed, the test vehicle is controlled by the external domain controller through vehicle control information, the vehicle control information is generated by a preset test path and the positioning information of the test vehicle, and the preset test path is used to specify the driving route of the vehicle in the test site.

11. The method according to claim 10, characterized in that The method further comprises: Creating a driving route of the vehicle in the test site based on the high-definition map to obtain the preset test path; receiving second positioning information sent by the roadside device, where the second positioning information is collected by the roadside device at the test site and is used to record the position information of the test vehicle; The preset test path and the second positioning information are sent to the external domain controller.

12. The method according to claim 11, characterized in that The method further comprises: Receiving first positioning information sent by the positioning and navigation unit; Generate vehicle control information based on the preset test path, the first positioning information and / or the second positioning information; The vehicle control information is sent to an external domain controller.

13. The method according to claim 11, characterized in that The method further comprises: Obtaining a maximum test sample size of the test site, and determining a test vehicle that needs to be tested according to the maximum test sample size; Obtaining the number of test scenarios for each test vehicle, the test site including a plurality of test scenarios; Arrange the entry order of each test vehicle in ascending order of the number of test scenarios; During the test, receiving the test scenario status sent by the roadside equipment; Analyzing the occupancy status of each test scene according to the test scene status; If the test scene currently scheduled to be entered by the target vehicle is occupied by other vehicles, the queue number corresponding to the test scene that the target vehicle needs to perform is detected, and the queue number is used to represent the number of vehicles tested before the target vehicle; Determine a target test scenario corresponding to the minimum queue number, and dispatch the target vehicle to the target test scenario.

14. The method according to claim 11, characterized in that The method further comprises: Receiving the test site environment information sent by the roadside equipment; Generate control strategy adjustment information according to the test site environment information; The control strategy adjustment information is sent to the external domain controller to adjust the vehicle control information.

15. The method according to claim 14, characterized in that The generating control strategy adjustment information according to the test site environment information includes: When it is detected that there is an obstacle risk in the test site according to the test site environment information, the feasibility of circumventing the obstacle is determined based on the size and position of the obstacle in the test site environment information; When the obstacle cannot be circumvented, determining the emergency braking strategy as the control strategy adjustment information; When the obstacle can be circumvented, the control strategy adjustment information is determined to first execute the obstacle circumvention strategy, and after the obstacle is successfully circumvented, continue to execute the preset test path.

16. The method according to claim 14, characterized in that The generating control strategy adjustment information according to the test site environment information includes: When it is detected according to the test site environment information that there is a weather risk at the test site, estimating the road friction based on the test site environment information; Calculating the collision risk between the participating test vehicles according to the road friction; If the collision risk allows the test, for the first vehicle that has not yet entered the venue, determining that the control strategy adjustment information is to extend the entry interval time; For a second vehicle that has entered the venue, determining that the control strategy adjustment information is to reduce the speed of the second vehicle, and when the test of the second vehicle is completed, extending the entry interval time of the second vehicle for the next test; If the collision risk does not allow testing, for the first vehicle that has not yet entered the venue, determining the control strategy adjustment information to be suspended from entering the venue; For a second vehicle that has entered the venue, the control strategy adjustment information is determined to reduce the speed of the second vehicle and control the second vehicle to leave the venue.

17. The method according to claim 11, characterized in that The method further comprises: Receiving an actual driving trajectory sent by the roadside equipment or the positioning navigation unit, wherein the actual driving trajectory is a trajectory route actually driven by the test vehicle during the test process; Comparing the actual driving trajectory with the preset test path; The test quality is determined based on the difference between the actual driving trajectory and the preset test path.

18. A vehicle testing device, characterized in that: An external domain controller used to establish a communication connection with a test vehicle, the device comprising: A control information module, used to obtain vehicle control information, wherein the vehicle control information is generated based on a preset test path and positioning information of the test vehicle, wherein the preset test path is used to specify a driving route of the vehicle in the test site; A vehicle control module, used to control the driving of the test vehicle according to the vehicle control information; The performance data extraction module is used to collect performance data representing the test situation for the test vehicle during the vehicle driving process.

19. A vehicle testing device, characterized in that: Applied to the cloud control platform, the device includes: A data receiving module is used to receive performance data of a test vehicle sent by an external domain controller, wherein the performance data is collected by the external domain controller during the driving process of the test vehicle, the external domain controller establishes a communication connection with the test vehicle before the test, and disconnects the communication connection with the test vehicle after the test is completed, and the test vehicle is controlled by the external domain controller through vehicle control information, and the vehicle control information is generated by a preset test path and the positioning information of the test vehicle, and the preset test path is used to specify the driving route of the vehicle in the test site.

20. A vehicle testing system, characterized in that: include: External domain controller, roadside equipment and cloud control platform; The external domain controller establishes a communication connection with the test vehicle before the test, and disconnects the communication connection with the test vehicle after the test is completed. The external domain controller has a communication connection with the cloud control platform; The roadside equipment is arranged in the test site and is used to collect environmental information of the test site and the position of the test vehicle; The cloud control platform also establishes a communication connection with the roadside equipment; The external domain controller is used to execute the method described in any one of claims 1 to 9, and the cloud control platform is used to execute the method described in any one of claims 10 to 17.

21. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method according to any one of claims 1 to 17.

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