A vehicle test method, device, system and storage medium

Abstract

The application relates to the technical field of automobile testing, and discloses a vehicle test method, device, system and storage medium, the method is applied to an external domain controller which establishes a communication connection with a test vehicle, the method comprises the following steps: acquiring vehicle control information, the vehicle control information is generated based on a preset test path and positioning information of the test vehicle, the preset test path is used for defining a driving route of the vehicle in a test site; controlling the test vehicle to drive according to the vehicle control information; and collecting performance data representing a test condition for the test vehicle in a vehicle driving process. The technical scheme provided by the application can improve the vehicle test efficiency.

Description

Technical Field

[0001] This invention relates to the field of automotive testing technology, and more specifically to a whole vehicle testing method, apparatus, system, and storage medium. Background Technology

[0002] Vehicle performance testing refers to testing the performance capabilities of various components of a vehicle. Common performance tests include maximum mileage testing, continuous driving time testing, braking distance testing, component durability testing, shock absorption testing, and stability testing. These performance tests often need to be conducted in closed environments and rely heavily on manual operation, which has significant drawbacks. Manual testing requires a large number of professional test personnel who not only drive the test vehicles according to predetermined scenarios and procedures but also carefully observe and record various data and phenomena during the process. This results in extremely high labor costs and severely impacts the efficiency of automated vehicle testing. Therefore, how to further improve the efficiency of whole-vehicle testing and reduce testing costs is an urgent problem to be solved. Summary of the Invention

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

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

[0005] Based on the aforementioned technical means, this invention establishes a communication connection between an external domain controller and the test vehicle to control the actuators on the test vehicle. Simultaneously, the external domain controller acquires a preset test path and the vehicle's positioning information from an external source. This preset test path is pre-drawn according to a closed test site. Then, using the preset test path and the vehicle's positioning information, control information is generated to control the vehicle to travel along the preset test path. During this process, the external domain controller collects the vehicle's performance data in real time, thereby achieving automated performance testing and significantly improving testing efficiency.

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

[0007] Based on the aforementioned technical methods, the external domain controller is configured as a pluggable external module. During testing, the external domain controller is connected to the vehicle, and after testing, the connection is disconnected. The external domain controller can be reused for testing on the next test vehicle. On the one hand, for test vehicles, which are often semi-finished products, there is no need to equip them with complex automatic control software and chips, and the logic algorithms used for testing do not need to be integrated into the vehicle, thus avoiding impact on the vehicle's onboard computer and achieving decoupling between testing and actual use. On the other hand, the reusability of the external domain controller also reduces testing costs.

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

[0009] Based on the aforementioned technical means, the external domain controller also uploads the test performance data to the cloud platform. The powerful computing capabilities of the cloud platform are used to analyze the performance data, determine the quality of vehicle performance, and improve the reliability of performance testing.

[0010] In some optional implementations, obtaining vehicle control information includes: extracting a preset test path from the 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 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 location information collected by the cloud control platform through roadside equipment installed at the test site; and generating vehicle control information based on the preset test path, the first positioning information, and / or the second positioning information.

[0011] Based on the aforementioned technical means, the external domain controller can pre-store preset test paths internally and receive positioning information sent externally. It then generates control information based on the positioning information and the preset test paths. The positioning information includes a positioning and navigation unit temporarily attached to the vehicle and roadside equipment (such as radar) installed at the site, thus fusing multi-source positioning information and significantly improving positioning accuracy. Furthermore, since the positioning and navigation unit and roadside equipment are not integrated positioning hardware on the vehicle, they can be reused multiple times. The test vehicle can also be tested multiple times in a semi-finished state, reducing testing costs and facilitating disassembly and debugging.

[0012] In some optional implementations, obtaining vehicle control information includes: receiving vehicle control information sent by a cloud control platform, wherein 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, which 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 at the test site.

[0013] Based on the above technical means, the positioning information is still obtained through the positioning and navigation unit and roadside equipment, but the role of generating vehicle control information can be transformed into the cloud control platform. The powerful computing capabilities of the cloud control platform can improve the calculation 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, thus reducing the occupation of the already limited computing resources of the external domain controller.

[0014] In some optional implementations, vehicle control information is generated through 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, breaking down each straight line segment in the preset test path and determining the driving direction of each straight line segment; generating vehicle control information based on the driving direction of each straight line segment in the preset test path.

[0015] Based on the above technical means, vehicle control can be achieved based on route trends in the absence of location information, thereby improving the resilience of the testing process.

[0016] In some optional implementations, during vehicle operation, the method further includes: acquiring status signals, including a first status signal of the actuator in the test vehicle and a second status signal of the cloud control platform; determining whether an abnormal state has occurred based on the status signals; and controlling the test vehicle to brake urgently when an abnormal state occurs.

[0017] In some alternative implementations, the test vehicle is also equipped with a sensing unit that controls the emergency braking of the test vehicle when an abnormal state occurs, including: activating the sensing unit on the test vehicle and collecting vehicle environment information through the sensing unit; and controlling the emergency braking of the test vehicle based on the vehicle environment information.

[0018] Based on the aforementioned technical methods, detecting abnormal states indicates that the cloud control platform is no longer able to control the vehicle normally or that the vehicle itself has a problem. Consequently, an external domain controller takes over vehicle control, initiating emergency braking. Specifically, redundant sensing units are activated to observe road conditions, and the vehicle is controlled to slowly pull over to the side of the road using an autonomous driving emergency braking strategy. This improves test safety and reliability, and mitigates collision risks.

[0019] In some optional implementations, during vehicle operation, the method further includes: receiving control strategy adjustment information sent by a cloud control platform, wherein the control strategy adjustment information is generated by the cloud control platform based on test site environment information, which 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 test vehicle to drive according to the new vehicle control information.

[0020] Based on the aforementioned technical means, the cloud control platform, through its quality assessment module, can also identify deficiencies in testing strategies and control circuits, promptly adjust the testing system, and improve its reliability.

[0021] Secondly, the present invention provides a whole vehicle testing method applied to a cloud control platform. 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 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; the test vehicle being controlled by the external domain controller through vehicle control information, the vehicle control information being generated by a preset test path and the positioning information of the test vehicle; the preset test path being used to specify the driving route of the vehicle in the test site.

[0022] In some optional implementations, the method further 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 being collected by the roadside device in the test site and 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 further includes: obtaining the maximum test sample size of the test site and determining the test vehicles to be tested based on the maximum test sample size; obtaining the number of test scenarios for each test vehicle, wherein the test site includes multiple test scenarios; arranging the entry order of each test vehicle in ascending order of the number of test scenarios; receiving the test scenario status sent by the roadside equipment during the test; analyzing the occupancy status of each test scenario based on the test scenario status; if the test scenario that the target vehicle is currently scheduled to enter is occupied by other vehicles, detecting the queue number corresponding to the test scenario that the target vehicle still needs to perform, wherein the queue number is used to represent the number of vehicles being tested before the target vehicle; identifying the target test scenario corresponding to the minimum queue number, and scheduling the target vehicle to the target test scenario.

[0024] Based on the aforementioned technical means, the cloud control platform can also realize vehicle management functions, and through the vehicle management function, it can further schedule vehicles when multiple vehicles are being tested simultaneously, so as to significantly improve the testing efficiency of multi-vehicle testing.

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

[0026] In some optional implementations, control strategy adjustment information is generated based on test site environmental information, including: when the test site environmental information detects the presence of obstacle risks, the feasibility of bypassing the obstacle is determined based on the size and position of the obstacle in the test site environmental information; when bypassing the obstacle is not possible, an emergency braking strategy is determined as control strategy adjustment information; when bypassing the obstacle is possible, the control strategy adjustment information is determined to first execute the obstacle bypass strategy, and after successfully bypassing the obstacle, continue to execute the preset test path.

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

[0028] In some optional implementations, the method further includes: receiving an actual driving trajectory sent by a roadside device or a positioning and navigation unit, wherein the actual driving trajectory is the actual route traveled 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 aforementioned technical means, the cloud control platform, through its quality assessment module, can also identify deficiencies in testing strategies and control circuits, promptly adjust the testing system, and improve its reliability.

[0030] Thirdly, the present invention provides a vehicle testing device applied to an external domain controller that establishes a communication connection with a test vehicle. The device includes: a control information module for acquiring vehicle control information, which is generated based on a preset test path and the positioning information of the test vehicle, wherein the preset test path is used to define the driving route of the vehicle in the test site; a vehicle control module for controlling the driving of the test vehicle according to the vehicle control information; and a performance data extraction module for collecting performance data characterizing the test conditions of the test vehicle during the vehicle's driving process.

[0031] Fourthly, the present invention provides a vehicle testing device applied to a cloud control platform. The device includes: a data receiving module for receiving 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 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. 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.

[0032] Fifthly, the present invention provides a 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 testing and disconnects the communication connection with the test vehicle after testing; the external domain controller and the cloud control platform have a communication connection; the roadside equipment is installed 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 of any one of the first aspects, and the cloud control platform is used to execute the method of any one of the second aspects.

[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 for causing a computer to perform the method of either the first aspect or the second aspect.

[0034] The beneficial effects of this invention are:

[0035] (1) Based on 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 actuators 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. Then, the control information for the vehicle is generated using the preset test path and the vehicle's positioning information, and the vehicle is controlled to drive along the preset test path. During this process, the external domain controller collects the vehicle's performance data in real time, thereby realizing automated performance testing and significantly improving testing efficiency.

[0036] (2) Based on the above technical means, the external domain controller is configured as a pluggable external module. During testing, the external domain controller is connected to the vehicle, and after testing, the connection is disconnected. The external domain controller can be reused for testing on the next test vehicle. On the one hand, for test vehicles, which are often semi-finished products, there is no need to equip them with complex automatic control software and chips. Furthermore, the logic algorithms used for testing do not need to be integrated into the vehicle, thus avoiding any impact on the vehicle's onboard computer and achieving decoupling between testing and actual use. On the other hand, the reuse of the external domain controller also reduces testing costs.

[0037] (3) Based on the above technical means, the external domain controller will also upload the test performance data to the cloud platform. The powerful computing capabilities of the cloud platform will be used to analyze the performance data, determine the quality of vehicle performance, and improve the reliability of performance testing.

[0038] (4) Based on the above technical means, the external domain controller can store the preset test path internally in advance and receive the positioning information sent from the outside, 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 as to fuse the positioning information from multiple sources and significantly improve the positioning accuracy. In addition, the positioning and navigation unit and the roadside equipment are not positioning hardware built into 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 testing cost, but also makes the test vehicle in a semi-finished state easier to disassemble and debug.

[0039] (5) According to the above technical means, the positioning information is still obtained through the positioning and navigation unit and roadside equipment, but the role of generating vehicle control information can be transformed into the cloud control platform. The powerful computing capabilities 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, thus reducing the occupation of the already limited computing resources of the external domain controller.

[0040] (6) Based on the above technical means, vehicle control is achieved based on route trends in the absence of location information, which improves the risk resistance of the testing process.

[0041] (7) Based on the above technical means, by detecting abnormal states, it can be determined that the cloud control platform can no longer control the vehicle normally or that the vehicle itself has a problem. In this way, the external domain controller takes over the control of the vehicle and causes the vehicle to brake suddenly. In particular, redundant sensing units are activated to observe road conditions and the vehicle is controlled to slowly pull over to the side of the road through the emergency braking strategy of autonomous driving, which improves the safety and reliability of the test and avoids the risk of collision.

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

[0043] (9) Based on the above technical means, the cloud control platform can also realize vehicle management function, and through the vehicle management function, it can further schedule vehicles in the case of multiple vehicles being tested at the same time, so as to significantly improve the testing efficiency of multi-vehicle testing.

[0044] (10) Based on the above technical means, the cloud control platform can also discover the deficiencies of the test strategy and control circuit through the quality assessment module, adjust the test system in a timely manner, and improve the reliability of the test system. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating a vehicle testing method provided in an embodiment of the present invention;

[0046] Figure 2 This is another schematic flowchart of a vehicle testing method provided in an embodiment of the present invention;

[0047] Figure 3 Another flowchart illustrating a vehicle testing method provided in an embodiment of the present invention.

[0048] Figure 4 This is a schematic diagram of the structure of a vehicle testing device provided in an embodiment of the present invention;

[0049] Figure 5 This is another structural schematic diagram of a vehicle testing device provided in an embodiment of the present invention;

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

[0051] Figure 7 This is another structural schematic diagram of a vehicle testing system provided in an embodiment of the present invention;

[0052] Figure 8 This is a schematic diagram of the structure of the test vehicle provided in an embodiment of the present invention;

[0053] Figure 9 This is another structural schematic diagram of a vehicle testing system provided in an embodiment of the present invention. Detailed Implementation

[0054] The embodiments of the present invention will be described below 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 content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed 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 and 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 representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0056] This embodiment proposes a whole 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: Establish a communication connection with the test vehicle;

[0058] Step S102: Obtain vehicle control information. The vehicle control information is generated based on the 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.

[0059] Step S103: Control the test vehicle to drive according to the vehicle control information;

[0060] Step S104: During the vehicle's operation, collect performance data characterizing the test conditions for the test vehicle.

[0061] Step S105: Upload the performance data to the cloud control platform.

[0062] Step S201: Receive the performance data of the test vehicle sent by the external domain controller, and determine the 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 this embodiment of the invention, in order to automate the vehicle performance testing, a preset test path is obtained for a closed test site. The preset test path refers to pre-drawn data that specifies the route the vehicle must take within the test site, and the vehicle must strictly follow the preset test path.

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

[0066] Subsequently, during actual testing, a communication connection is first established between the external domain controller and the test vehicle. This connection can be established via wired or wireless methods, including, but not limited to, wired and wireless connections. For example, a pluggable domain controller interface can be provided on the test vehicle. The external domain controller is inserted into this interface during testing and removed after testing. Alternatively, the external domain controller can connect to the test vehicle via wireless communication methods such as Bluetooth or Wi-Fi. Disconnecting the wireless communication after testing also allows for the reuse of the external domain controller.

[0067] Then, the external domain controller acquires vehicle control information, which is control command information used to control the vehicle to travel along a preset test path. This vehicle control information is generated based on the preset test path and the test vehicle's positioning information. This 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; this embodiment of the invention does not impose any special limitations on this. The source of the test vehicle's positioning information is not specifically limited. If the test vehicle is a finished product, the positioning information can be directly obtained using the test vehicle's positioning module. If the test vehicle is a semi-finished product, the test vehicle can be located using an external positioning device, and then the positioning information can be sent to the external domain controller.

[0068] Finally, the external domain controller controls the test vehicle's movement based on the vehicle control information, and collects performance data characterizing the test conditions in real time during the vehicle's movement, such as the vehicle's mileage, fuel consumption, engine speed, etc. At the same time, the performance data is uploaded to the cloud control platform, so that the cloud control platform can analyze the vehicle's condition based on the performance data. For vehicles with problems, the platform can promptly disassemble and adjust the vehicle to improve the overall performance of the vehicle.

[0069] The technical solution provided by this invention achieves several advantages. First, it enables automated vehicle performance testing, eliminating the need for extensive manual driving by numerous drivers, thus increasing the automation level of vehicle performance testing and reducing testing costs. Second, the control information of the external domain controller is generated based on a preset test path. This preset test path is drawn in advance, rather than being generated in real-time by the vehicle based on environmental information collected by cameras. This eliminates the task of path planning for the external domain controller, freeing up more computing power and improving its control capabilities, thereby enhancing test reliability. Third, the external domain controller establishes a connection with the test vehicle during testing and disconnects after testing, allowing for reuse. This not only reduces testing costs but is also particularly beneficial for semi-finished vehicles with only actuators (engine, transmission, tires, etc.). No software development for the vehicle itself is required; only the external domain controller needs to be connected during testing. After testing, the various control algorithms deployed on the vehicle's controller are designed for real-world road scenarios and are not used in closed test areas. This decouples the testing and actual driving processes, preventing software interference between vehicles and improving test reliability.

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

[0071] Step a1: Extract the preset test path from the preset storage space of the external domain controller, or receive the preset test path sent by the cloud control platform;

[0072] Step a2: Receive first positioning information sent by the positioning and navigation unit, and / or receive 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 at the test site.

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

[0074] Specifically, such as Figure 3As shown, vehicle control information can be generated within the external domain controller. The preset test path can be pre-stored in the external domain controller's storage space or remotely distributed from the cloud control platform. The location information can come from two sources: one is attaching a temporary positioning and navigation unit (modular hardware for positioning and navigation, such as a attachable GPS positioning module) to the test vehicle and obtaining first positioning information by receiving data from the positioning and navigation unit; the other is obtaining second positioning information by collecting the test vehicle's location information from roadside equipment installed near the test site. In this embodiment, roadside equipment includes, but is not limited to, cameras, millimeter-wave radar, and inertial measurement units. Subsequently, the external domain controller determines the specific location of the test vehicle on the preset test path at each moment based on the positioning information, thereby enabling command and control of the test vehicle, allowing it to travel along the preset test path.

[0075] The technical solution provided by this invention allows the external domain controller to directly acquire the vehicle's positioning information and preset test path internally, and generate vehicle control information in real time. This avoids data delays caused by numerous communication links, resulting in high real-time performance of the generated vehicle control information and improved control quality for the test vehicle. Furthermore, the positioning information originates from both the positioning and navigation unit and roadside equipment. By fusing one or both types of information to locate the test vehicle, positioning accuracy is significantly improved, avoiding the problem of inability to locate due to the malfunction of one positioning device. In addition, neither the positioning and navigation unit nor the roadside equipment is directly installed on the vehicle. The roadside equipment is installed in the test site, while the positioning and navigation unit is an external patch module that can be removed at any time. This further enables the reuse of test hardware for testing semi-finished vehicles, reducing testing costs and simplifying subsequent disassembly and assembly of the semi-finished vehicles.

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

[0077] Step b1: Receive 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, first positioning information and / or second positioning information. The first positioning information is sent to the cloud control platform by the positioning and navigation unit, which is an external positioning and navigation device placed on the test vehicle. The second positioning information is the test vehicle location information collected by the cloud control platform through roadside equipment installed at the test site.

[0078] Specifically, in this embodiment of the invention, the vehicle control information is still generated from a preset test path, first positioning information, and / or second positioning information, but the object generating the vehicle control information is changed to the cloud control platform. Data collected by the positioning and navigation unit and 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 resources of the external domain controller are saved, as the external domain controller only serves as a relay signal command, and the external domain controller can be deployed with low-configuration chips, reducing testing costs; on the other hand, the vehicle is remotely controlled based on the cloud control platform, and the vehicle control information can also be optimized using other relevant data in the cloud control platform (such as 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 alternative implementations, vehicle control information is generated through the following steps:

[0081] Step c1: Determine the starting position of the test vehicle on the preset test path based on the positioning information of the test vehicle;

[0082] Step c2: Starting from the starting position, disassemble each straight line in the preset test path and determine the driving direction of each straight line;

[0083] Step c3: Generate vehicle control information based on the driving direction of each straight line in the preset test path.

[0084] Specifically, this invention also provides a vehicle control method that does not require real-time positioning. In general, real-time positioning information is needed to determine the vehicle's current position on a preset test path, thereby determining the vehicle's control strategy (straight ahead, turning). However, in some special scenarios (e.g., communication interruption of the positioning device), positioning information may be lost, making it impossible to continue testing. Based on this, this invention identifies each straight line segment in the preset test path, breaks the preset test path into multiple straight lines, and determines the driving direction of each straight line. Then, only the initial positioning is needed to determine the starting position of the test vehicle on the preset test path. Since the vehicle travels along straight lines, vehicle control information can be generated based on the driving direction of each straight line segment in the preset test path. In other words, the vehicle knows the length and direction of each straight line segment. After traveling a predetermined distance in a predetermined direction, the vehicle adjusts its steering according to the direction of the next straight line segment, and then travels a predetermined distance along the length of the next straight line segment. This cycle repeats, eliminating the need for real-time positioning information during subsequent testing. The vehicle's direction can be adjusted based on the path's movement, thus achieving a vehicle control method that does not require positioning information.

[0085] In some alternative implementations, during vehicle operation, the external domain controller also performs the following steps:

[0086] Step d1: Collect status signals, including the first status signal of the actuator in the test vehicle and the second status signal of the cloud control platform;

[0087] Step d2: Determine whether an abnormal state has occurred based on the status signal;

[0088] Step d3: When an abnormal state occurs, control the test vehicle to apply emergency braking.

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

[0090] Step d31: Activate the sensing unit on the test vehicle and collect environmental information about the vehicle body through the sensing unit;

[0091] Step d32: Control the test vehicle to brake suddenly based on the vehicle's environmental information.

[0092] Specifically, in one implementation scenario, the cloud control platform controls the external domain controller. The external domain controller receives vehicle control commands from the cloud control platform and forwards execution signals to the vehicle's steering, braking, power, and other related actuators to control the vehicle's normal operation. In this process, the external domain controller only acts as a signal relay and does not make any decisions, nor does it perform obstacle avoidance or obstacle maneuvering. This is a low-cost improvement made to reduce the development of overly complex autonomous driving software on the external domain controller. To ensure testing safety, this embodiment of the invention adds a simple emergency handling software function to the external domain controller. Based on this function, the external domain controller receives real-time status signals from the actuators (e.g., throttle, engine, and transmission status) and the cloud control platform's status (e.g., communication status), and determines whether any abnormalities have occurred, such as damage to the throttle, engine, or transmission, or the cloud control platform's inability to communicate normally.

[0093] When the external domain controller diagnoses an abnormal state in the actuator or cloud control platform, indicating that the actuator is not operating normally or the cloud control platform is not controlling the vehicle properly, continuing testing may pose a risk. To address this, this embodiment of the invention defines an external domain controller taking over vehicle control, sending an emergency stop signal to the actuator to bring the vehicle to an emergency stop, and simultaneously sending a fault signal to the cloud control platform. The cloud control platform receives the fault signal and issues an alarm. After the tester has troubleshooted the fault, the vehicle is restarted and self-test mode is activated. When the cloud platform receives the self-test signal, it begins to control the vehicle again for testing. For example, if the steering command angle deviation issued by the system exceeds 10° for more than 3 seconds, it is determined to be abnormal, and control of the vehicle is immediately taken over. Simultaneously, the domain control system has a built-in storage module that records vehicle status data at a frequency of 10Hz.

[0094] Based on 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 commands are abnormal. If an abnormal state occurs, it means that the cloud control platform can no longer control the vehicle normally. Then the external domain controller takes over the control of the vehicle in an emergency, thereby opening the perception unit and the positioning and navigation unit, and controlling the vehicle to stop through the emergency braking strategy of autonomous driving, which improves the safety of the test and avoids the risk of collision.

[0095] Meanwhile, in some alternative implementations, a small number of sensing units (such as radar or cameras) can be installed on the vehicle. These sensing units are not activated during normal testing to save energy. They are activated only when the external domain controller detects an abnormal state, allowing it to obtain brief environmental information about the vicinity of the vehicle. This enables the controller to control the vehicle to slowly pull over to the side of the road according to road conditions, braking the vehicle without affecting the testing of other vehicles, thus further improving the reliability of the test.

[0096] In some alternative embodiments, the vehicle testing method provided by the present invention further includes the following steps performed by the external domain controller:

[0097] Step e1: 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, which is collected by the roadside equipment.

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

[0099] Step e3: Control the test vehicle to drive based on the new vehicle control information.

[0100] Specifically, current conventional performance testing only issues vehicle control commands to the test destination, such as controlling the vehicle to perform serpentine maneuvers to assess vehicle stability. This process does not consider road conditions, resulting in insufficiently intelligent control. Even if there are risks ahead, the vehicle may still be directed to the destination, thus compromising test safety. The safety monitoring module provided in this invention identifies risks in the test site environment based on environmental information uploaded by roadside equipment. It then adjusts the strategy used to generate vehicle control commands in the cloud control platform to adapt to the latest external environment, ensuring that vehicle driving commands drive the vehicle to make more reasonable driving actions and avoid collision risks.

[0101] In some optional embodiments, the vehicle testing method provided by the present invention further includes the following steps performed by the cloud control platform:

[0102] Step f1: Create the vehicle's driving route in the test site based on the high-definition map to obtain the preset test path;

[0103] Step f2: Receive the 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: Send the preset test path and second location information to the external domain controller.

[0105] In some optional embodiments, the vehicle testing method provided by the present invention further includes the following steps performed by the cloud control platform:

[0106] Step f4: Receive the first positioning information sent by the positioning and navigation unit;

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

[0108] Step f6: Send vehicle control information to the external domain controller.

[0109] For a description of the principles and beneficial effects of steps f1 to f3, please refer to the relevant descriptions of steps a1 to a3 above, which will not be repeated here.

[0110] The principles and beneficial effects of steps f4 to f6 can be found in the description of step b1 above, and will not be repeated here.

[0111] In some optional embodiments, the vehicle testing method provided by the present invention further includes the following steps performed by the cloud control platform:

[0112] Step g1: Obtain the maximum test sample size of the test site, and determine the test vehicles that need to be tested based on the maximum test sample size.

[0113] Step g2: Obtain the number of test scenarios for each test vehicle. The test site includes multiple test scenarios.

[0114] Step g3: Arrange the entry order of each test vehicle according to the number of test scenarios from smallest to largest;

[0115] Step g4: During the test, receive the test scenario status sent by the roadside equipment;

[0116] Step g5: Analyze the occupancy status of each test scenario based on the test scenario status;

[0117] Step g6: If the test scenario that the target vehicle is currently scheduled to enter is occupied by other vehicles, then detect the number of queues corresponding to the test scenarios that the target vehicle still needs to perform. The number of queues is used to represent the number of vehicles that are being tested before the target vehicle.

[0118] Step g7: Determine the target test scenario corresponding to the minimum queue size, and dispatch the target vehicle to the target test scenario.

[0119] Specifically, this embodiment of the invention also provides a scheduling method for multi-vehicle testing scenarios. The cloud control platform needs to determine the maximum test sample size of the test site, i.e., the maximum number of vehicles the test site can accommodate per day. Then, it schedules test vehicles according to the maximum test sample size of the test site, thereby increasing the number of vehicles participating in the test and improving testing efficiency.

[0120] Test tracks often include multiple test scenarios, such as serpentine curves for testing vehicle stability, cobblestones for testing shock absorption, ramps for testing climbing ability, and circular tracks for testing durability. Similarly, the test scenarios for each test vehicle may differ; not every vehicle needs to be tested in all scenarios. For example, some vehicles undergo secondary or tertiary testing, requiring only a few specific scenarios. Therefore, this embodiment also needs to determine the number of test scenarios for each test vehicle and then schedule the entry order of each test vehicle according to the order of the number of test scenarios corresponding to each vehicle, from smallest to largest. In other words, vehicles with fewer test scenarios enter the test track first, while vehicles with more test scenarios enter later. This scheme allows vehicles with fewer test scenarios to complete testing faster, freeing up testing space for more test scenarios and allowing more test vehicles to enter the track for simultaneous testing, further improving testing efficiency.

[0121] Furthermore, during testing, if the test scenario currently scheduled for the target vehicle is occupied by other vehicles, the cloud control platform first determines other test scenarios that the target vehicle still needs to undergo. Then, it calculates the queue lengths for these other test scenarios. The queue length represents the number of vehicles waiting to be tested before the target vehicle in each scenario. If a target test scenario for the target vehicle is available, the target vehicle can be dispatched directly to that scenario. If a target test scenario is not available but has the shortest queue length, the target vehicle is dispatched to that scenario to wait in line. This comprehensively reduces the waiting time for each vehicle at the test site, further improving testing efficiency.

[0122] In some optional embodiments, the vehicle testing method provided by the present invention further includes the following steps performed by the cloud control platform:

[0123] Step h1: Receive test site environmental information sent by the roadside equipment;

[0124] Step h2: Generate control strategy adjustment information based on the test site environment information;

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

[0126] Specifically, current conventional performance testing only issues vehicle control commands to the test destination, such as controlling the vehicle to perform serpentine maneuvers to assess vehicle stability. This process does not consider road conditions, resulting in insufficiently intelligent control. Even if there are risks ahead, the vehicle may still be directed to the destination, thus compromising test safety. The safety monitoring module provided in this invention identifies risks in the test site environment based on environmental information uploaded by roadside equipment. It then adjusts the strategy used to generate vehicle control commands in the cloud control platform to adapt to the latest external environment, ensuring that vehicle driving commands drive the vehicle to make more reasonable driving actions and avoid collision risks.

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

[0128] Step h21: When the risk of obstacles is detected in the test site based on the test site environment information, the feasibility of bypassing the obstacles is determined based on the size and position of the obstacles in the test site environment information.

[0129] Step h22: When it is impossible to bypass the obstacle, determine the emergency braking strategy as control strategy adjustment information;

[0130] Step h23: When it is possible to bypass the obstacle, determine the control strategy adjustment information to first execute the obstacle bypass strategy, and after successfully bypassing the obstacle, 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 concern itself with obstacles. For example, when controlling the vehicle to perform serpentine maneuvers to test vehicle stability, the cloud control platform's algorithm only controls the vehicle's serpentine maneuvers and does not consider obstacles on the road. If obstacles such as tires or stones suddenly appear on the road, a collision may occur. In this embodiment, the roadside equipment monitors the distance and relative speed between the vehicle and surrounding obstacles, predicts the possible collision risk, and when there is an obstacle within a preset distance (e.g., 40m) ahead of the vehicle's preset trajectory, the cloud control platform will first determine the feasibility of bypassing the obstacle based on the obstacle's size and location information, and issue bypass or stop instructions according to the feasibility. At the same time, the cloud will issue image and sound alarms to remind personnel to clear the obstacle. After the obstacle is cleared, the test personnel will reset the cloud platform, and the test will continue to be executed along the original route. For example, when the cloud control platform detects that it cannot bypass an obstacle, it updates the control algorithm to an emergency braking strategy to stop the vehicle instead of continuing the serpentine maneuver. When it can bypass an obstacle, it updates the control algorithm to an obstacle bypass strategy, that is, it first controls the vehicle to bypass the obstacle and stops the serpentine maneuver. After successfully bypassing the obstacle, it switches back to the original control algorithm to continue controlling the vehicle to perform the original performance test, such as continuing the serpentine maneuver.

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

[0133] Step h24: When weather risks are detected at the test site based on the test site environmental information, estimate the road friction force based on the test site environmental information.

[0134] Step h25: Calculate the collision risk between the vehicles participating in the test based on road friction.

[0135] Step h26: If the collision risk allows for testing, for the first vehicle that has not yet entered the test area, determine the control strategy adjustment information to extend the entry interval time.

[0136] Step h27: For the second vehicle that has already entered the test area, determine the control strategy adjustment information to reduce the speed of the second vehicle, and extend the entry interval time for the second vehicle in the next test when the second vehicle completes the test.

[0137] Step h28: If the collision risk does not allow for testing, for the first vehicle that has not yet entered the test area, determine the control strategy adjustment information to suspend entry.

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

[0139] Specifically, under adverse weather conditions (such as heavy rain and dense fog), the impact of changes in road friction on braking distance is assessed, and test strategies are adjusted in advance to ensure safety. Based on monitoring of rain and fog levels by vehicles or roadside equipment, for level 1 rain and fog (with no impact on collision risk), the normal test plan is executed. For level 2-3 rain and fog before entry (with a minor impact on collision risk, allowing testing), the entry interval for test vehicles can be adjusted from 30 seconds to 60 seconds, increasing the distance between prototype vehicles to avoid collisions. If level 2-3 rain and fog occurs during the test, all vehicles can reduce their speed by 30%, stop upon returning to the entry point, and then restart the test at 60-second intervals, invalidating the previous lap's test record. If level 3 or higher severe rain and fog occurs before entry (collision risk disallows testing), the test can be suspended. If level 3 or higher severe weather occurs during the test, the algorithm strategy can be adjusted to reduce the speed of all vehicles to 10 kph and slowly leave the test area. Furthermore, safety monitoring includes intrusion detection of the test area to prevent unauthorized personnel or vehicles from entering the test site and causing accidents.

[0140] Through the technical solution provided by the embodiments 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, which significantly improves the safety of vehicle performance testing.

[0141] In some optional embodiments, in the whole vehicle testing method provided by the present invention, the cloud control platform further executes the following steps:

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

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

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

[0145] Specifically, the actual driving trajectory can be positioned and mapped through the roadside device and the positioning and navigation unit on the vehicle end, and the cloud control platform acquires the preset ideal trajectory of the vehicle according to the vehicle control instruction. Then, deviation analysis is performed on the actual driving trajectory and the preset ideal trajectory. The trajectory coincidence analysis can refer to the Manhattan analysis method in the coordinate system to calculate the weighted average value of the distances of the trajectory subdivision points. If the average value is ≤1 m (only 1 m is taken as an example, which is not limited thereto, and the specific index can be calibrated), the current test is regarded as qualified in test quality; otherwise, it is regarded as unqualified. At the same time, the test quality is evaluated according to statistical analysis of multiple test results. If the test quality is unqualified, problems in the communication link, test algorithm and other aspects shall be checked in time to further improve the reliability of the test scheme.

[0146] As Figure 4 shown, the present embodiment further provides a whole vehicle testing apparatus, which is applied to an external domain controller that establishes a communication connection with a test vehicle, and the apparatus includes:

[0147] A control information module 301, configured to acquire vehicle control information, wherein 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 the driving route of the vehicle in a test site;

[0148] A vehicle control module 302, configured to control the test vehicle to drive according to the vehicle control information;

[0149] A performance data extraction module 303, configured to collect performance data characterizing the test condition for the test vehicle during the driving process of the vehicle.

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

[0151] A data upload module, configured to upload the performance data to the cloud control platform, so that the cloud control platform determines a performance test result based on the performance data.

[0152] In some optional embodiments, during the driving process of the vehicle, the apparatus further includes:

[0153] The status acquisition module is used to acquire status signals, including the first status signal of the actuators in the test vehicle and the second status signal of the cloud control platform.

[0154] The anomaly detection module is used to determine whether an abnormal state has occurred based on status signals;

[0155] The braking module is used to control the emergency braking of the test vehicle in the event of an abnormal condition.

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

[0157] The sensing activation unit is used to activate the sensing unit on the test vehicle and collect vehicle environmental information through the sensing unit.

[0158] The braking unit is used to control the emergency braking of the test vehicle based on the vehicle's environmental information.

[0159] In some alternative embodiments, the device further includes, during vehicle operation:

[0160] The 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, which is collected by the roadside equipment.

[0161] The adjustment module is used to adjust the vehicle control information according to the control strategy adjustment information to obtain new vehicle control information.

[0162] The continued control module is used to control the driving of the test vehicle based on the new vehicle control information.

[0163] In some alternative implementations, it also includes:

[0164] The communication establishment module is used to establish a communication connection with the test vehicle before acquiring vehicle control information;

[0165] The communication disconnect 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 applied to a cloud control platform. 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 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. The test vehicle is controlled by the external domain controller through vehicle control information. The vehicle control information is generated by the 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 alternative embodiments, the apparatus further includes:

[0169] The path generation module is used to create the driving route of the vehicle in the test site based on the high-definition map, and obtain the preset test path;

[0170] The second positioning information receiving module is used to receive the 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.

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

[0172] In some alternative embodiments, the apparatus further includes:

[0173] The 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 based on the maximum test sample size.

[0174] The scenario determination module is used to obtain the number of test scenarios for each test vehicle. The test site includes multiple test scenarios.

[0175] The sequence scheduling module is used to arrange the entry order of each test vehicle according to the number of test scenarios in ascending order;

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

[0177] The occupancy detection module is used to analyze the occupancy status of each test scenario based on the test scenario status.

[0178] The queue detection module is used to detect the number of queues for the test scenarios that the target vehicle is currently scheduled to enter if other vehicles are occupying the test scenarios. The number of queues represents the number of vehicles that are being tested before the target vehicle.

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

[0180] In some alternative embodiments, the apparatus further includes:

[0181] The environmental monitoring module is used to receive environmental information of the test site sent by the roadside equipment;

[0182] The adjustment strategy generation module is used to generate control strategy adjustment information based on the test site environment information;

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

[0184] In some alternative implementations, the policy generation module is adjusted, including:

[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 the test site environment information detects the risk of obstacles in the test site.

[0186] The emergency braking module is used to determine the emergency braking strategy and adjust the control strategy when it is impossible to bypass the obstacle.

[0187] The obstacle avoidance module is used to determine the control strategy adjustment information when it is possible to bypass the obstacle, and to execute the obstacle avoidance strategy first. After successfully bypassing the obstacle, it continues to execute the preset test path.

[0188] In some alternative implementations, the policy generation module is adjusted, including:

[0189] The friction detection module is used to estimate road friction based on the environmental information of the test site when weather risks are detected at the test site.

[0190] The risk detection module is used to calculate the collision risk between the vehicles participating in the test based on road friction.

[0191] The first adjustment module is used to determine the control strategy adjustment information for the first vehicle that has not yet entered the test site if the collision risk allows for testing, and to extend the entry interval time.

[0192] The second adjustment module is used to determine the control strategy adjustment information for the second vehicle that has already entered the test site, which 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 has completed the test.

[0193] The third adjustment module is used to determine the control strategy adjustment information to suspend entry for the first vehicle that has not yet entered the test site 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 already entered the site, which is to reduce the speed of the second vehicle and control the second vehicle to leave the site.

[0195] In some alternative embodiments, the apparatus further includes:

[0196] The actual trajectory module is used to receive the actual driving trajectory sent by roadside equipment or positioning and navigation units. The actual driving trajectory is the actual route traveled by the test vehicle during the test.

[0197] The comparison module is 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] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments of the above methods, and will not be repeated here.

[0200] This embodiment proposes a whole vehicle testing system, such as Figure 6 As shown, it includes: 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; the external domain controller and the cloud control platform have a communication connection; the roadside equipment is set in the test site 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 and the cloud control platform are used in the method provided in the aforementioned method embodiments.

[0201] Specifically, in this embodiment, the test vehicle may include either a finished test vehicle or a semi-finished test vehicle. The semi-finished test vehicle is usually only equipped with actuators such as a steering wheel, engine, gearbox, wheels, transmission mechanism, accelerator, and brakes to ensure that the vehicle has driving functions. Additional devices that enhance driving capabilities, such as the vehicle controller, on-board computer, and various sensors, are not necessary to be installed. The purpose of this is to facilitate the disassembly and modification of the vehicle if the test fails after the vehicle performance test.

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

[0203] The roadside equipment is installed in the test site and includes devices such as radar and cameras capable of collecting environmental and vehicle information. Environmental information refers to information about the driving environment, such as lane markings, obstacles, and weather, while vehicle information includes details about the vehicle's appearance, characteristics, and driving parameters. In some optional implementations, such as... Figure 7As shown, the roadside equipment provided by this invention includes a camera, a millimeter-wave radar, supplementary lighting, and a multi-access edge computing unit. The high-definition camera is strategically positioned along the test road, possessing high resolution, wide dynamic range, and excellent low-light performance. It can capture real-time images of the road scene during the test vehicle's movement, including lane markings, traffic signs, the position and driving status of other vehicles, and pedestrian activity. The image data collected by the camera is transmitted to the multi-access edge computing unit via data transmission lines, providing the cloud control platform with rich visual information to assist in environmental perception and decision-making. It also provides important data for scene recording and subsequent analysis during the test. The millimeter-wave radar, installed at key locations on the test road, uses millimeter-wave electromagnetic waves to detect the environment around the test vehicle. It can accurately measure the distance, relative speed, and angle between target objects and the test vehicle, effectively detecting the presence of other vehicles, pedestrians, or obstacles. Especially under adverse weather conditions (such as rain, fog, and dust), the millimeter-wave radar maintains high detection performance, providing reliable environmental perception data to the cloud control platform, enhancing the system's ability to cope with complex environments, and ensuring the safety and accuracy of the test. To ensure the camera can capture clear images in low-light or nighttime conditions, traffic auxiliary lights are installed near the camera. These lights employ intelligent control, automatically adjusting brightness based on ambient light intensity. This ensures image quality from the camera while preventing visual interference to other road users due to strong glare. Their stable illumination output helps improve the stability and reliability of the vehicle-to-infrastructure (V2I) cloud system's visual perception, allowing tests to be conducted smoothly under various lighting conditions and comprehensively verifying the system's performance. The multi-access edge computing (MEC) unit communicates with the camera, millimeter-wave radar, and auxiliary lights. Deployed on the roadside, the MEC possesses powerful data processing and storage capabilities. It can process data collected by roadside sensors such as cameras and millimeter-wave radar in real time, performing operations such as data fusion, target recognition, and tracking, reducing the computational burden on the cloud and vehicle sides and lowering data transmission latency. The MEC module can also send timely warnings or decision-making support information to nearby test vehicles based on the processing results. For example, it can plan detour routes in advance and inform vehicles when there is road congestion ahead, improving the response speed and overall performance of the vehicle-road-cloud system and enhancing the realism and complexity of the test scenario. Perception devices such as cameras and millimeter-wave radar in roadside equipment collect data in real time. After the MEC module integrates and performs preliminary processing on this perception data, it uploads the data to the cloud platform through the road-cloud gateway. This data includes road environment information, dynamic information of other vehicles and pedestrians, etc., providing basic data support for the cloud platform's monitoring and decision-making, enabling the cloud platform to fully grasp the test scenario situation and perform corresponding analysis and scheduling.In addition, the MEC module includes message middleware such as Cyber ​​and MQTT, supporting multiple message transmission protocols, thus facilitating integration with the cloud control platform. In one specific embodiment, cameras can be installed at key locations such as curves, intersections, and simulated hazardous areas, based on the terrain and test scenario layout of the closed site, ensuring coverage of all key test sections. The cameras are installed 3 to 5 meters above the ground, with angles adjusted to achieve a horizontal viewing angle of 120° to 150° and a vertical viewing angle of 30° to 60°, ensuring clear image capture. Supplemental lighting is maintained 0.5 to 1 meter from the cameras, with a light intensity adjustment range set from 0 lux to 10000 lux, intelligently adjusting the brightness in real time based on ambient light sensor feedback. The MEC module is deployed in a data center at the edge of the site, connecting various sensing devices via high-speed fiber optic cables to ensure rapid data transmission and processing.

[0204] An external domain controller is a separately deployed domain controller module that includes communication capabilities, enabling remote communication with a cloud control platform. The test vehicle can establish a communication connection with the external domain controller. This connection can be established via wired or wireless methods, including, but not limited to, wired and wireless connections. For example, a pluggable domain controller interface can be provided on the test vehicle; the external domain controller is inserted into this interface during testing and unplugged after testing. Alternatively, the external domain controller can connect to the test vehicle via wireless communication methods such as Bluetooth or Wi-Fi; disconnecting the wireless communication after testing allows for reuse of the external domain controller.

[0205] The cloud control platform refers to a control platform implemented on a 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 function. At the same time, it performs performance analysis based on the test vehicle's driving data to complete the performance test.

[0206] Based on the above-described vehicle testing system, the embodiments of the present invention can execute the aforementioned steps S101 to S106, as well as the method of step S201.

[0207] The testing team conducted a detailed inventory of all vehicles participating in the test, entering basic information such as brand, model, VIN, and purchase date for each vehicle into the cloud control platform. Each sensor, communication, and data acquisition device was individually labeled with its unique identifier, including device number, purchase date, and calibration cycle. Test engineers, data analysts, and other relevant personnel were invited to fill out detailed job information forms, and dedicated accounts were created for them. Fiber optic networks and wireless base stations were pre-installed in a closed area to ensure communication between the data acquisition devices and the storage server. Roadside equipment was deployed to ensure vehicle information collection. After the above preparations were completed, the user manually plugged the external domain controller into the domain controller communication terminal of the test vehicle to begin the performance testing process.

[0208] Based on the aforementioned technical means, for semi-finished test vehicles equipped only with actuators, when an external domain controller is connected to the domain control communication terminal, the actuators on the test vehicle can be controlled through the external domain controller. Simultaneously, this invention installs multiple roadside devices at the test site. These roadside devices locate, identify, and track the test vehicle, thereby uploading the vehicle's location information and the environmental information of the test site to the cloud control platform. The cloud control platform analyzes the information uploaded by the roadside devices and executes algorithms for target recognition, path planning, and positioning navigation to generate vehicle control commands. These commands are then sent to the domain control communication terminal, enabling the external domain controller to execute the vehicle control commands. This achieves remote control of the external domain controller by the cloud control platform, which in turn controls the actuators of the test vehicle in response to the vehicle control commands, thus enabling the cloud control platform to remotely control the test vehicle and cause it to perform preset driving actions.

[0209] During the test vehicle's operation, various performance parameters of the device under test are collected via an external domain controller, such as vehicle speed, braking distance, whether the casing is deformed, and engine speed. These performance parameters are then uploaded to a cloud control platform via the external domain controller. The cloud control platform records these performance parameters and analyzes the vehicle's performance based on them, thus achieving automated vehicle performance testing.

[0210] The technical solution provided by this invention eliminates the need for complex sensors and autonomous driving software on test vehicles, allowing the vehicle's automatic control logic to be fully implemented in the cloud. Signals are transmitted to the corresponding vehicle actuators via an external domain controller. Furthermore, upon completion of the test, the user can disconnect the external domain controller from the test vehicle and reuse it in the next test vehicle. This not only reduces the complex disassembly and assembly operations required for subsequent vehicle modifications but also reduces the number of domain controllers needed, eliminating the need for a separate external domain controller for each vehicle. This significantly improves the efficiency of multiple test cycles, and the reduction in testing time is particularly noticeable when there are many test vehicles.

[0211] In some optional implementations, the external domain controller is also used to collect status signals of the actuators and status signals of the cloud control platform; the test vehicle is also equipped with a sensing unit and a positioning and navigation unit, which are used to run according to the start command of the external domain controller. The start command is generated when the external domain controller detects an abnormal state. The abnormal state is determined by the status signals of the actuators, the status signals of the cloud control platform, and the vehicle control commands.

[0212] Specifically, the status signals of the actuator and the cloud control platform refer to whether the signals can be sent and transmitted normally, and whether the transmitted messages are correct, etc., and are used to indicate the data status and the working status of the equipment. To improve the reliability of the test, this embodiment can install a small number of sensing units and positioning and navigation units on the test vehicle, and deploy a domain control system in an external domain controller. In addition to receiving control from the cloud control platform, the external domain controller also performs potential anomaly detection on the status signals in the background through the domain control system. The purpose is to take over the vehicle control in a timely manner when an abnormal state is detected, and control the vehicle to brake urgently to avoid the risk of collision.

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

[0214] In one alternative implementation, such as Figure 8 As shown, both the positioning and navigation unit and the external domain controller are located in the trunk. The core purpose of the positioning and navigation unit is to provide centimeter-level high-precision positioning data for the entire testing system. In some cases, the cloud control platform can also plan the optimal driving path for the vehicle based on the precise location information provided by the positioning and navigation unit, combined with road environment data uploaded by the road test system, and send pre-control commands to the vehicle in advance when necessary to ensure the safety and efficiency of vehicle operation. The positioning and navigation unit is connected to the vehicle's power supply and data bus. After a 30-minute warm-up period, it establishes a signal lock with the satellite system and begins 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 is mounted on a stable bracket in the trunk, and the external domain controller is installed in a heat-insulated and moisture-proof dedicated chassis in the trunk for easy vehicle disassembly and modification. At the same time, the external domain controller is initially configured, and the encryption protocol and heartbeat detection mechanism for communication with the cloud are set to ensure communication security and stability.

[0215] In some alternative implementations, such as Figure 9 As shown, the cloud control platform includes: a vehicle management module for managing vehicle information and generating vehicle scheduling strategies during the testing process; an equipment management module for managing information on sensor devices and roadside equipment; a user management module for managing the information and permissions of personnel participating in the testing; and a data management module for storing data collected by roadside equipment and generating vehicle control commands based on the data collected by roadside equipment.

[0216] Specifically, based on the above-mentioned technical means, the cloud control platform provided in this embodiment of the invention can also realize vehicle management functions, equipment management functions, user management functions, and data management functions.

[0217] The vehicle management module is used for comprehensive control of the vehicles participating in the test. This module includes vehicle registration, recording vehicle model, technical parameters, initial status, and other information. It also includes vehicle scheduling, rationally allocating vehicles to different test scenarios and time periods based on test scenario requirements and vehicle availability. According to the sample size regulations of the closed test site, tests are arranged according to the maximum sample size. Vehicle entry order is based on ascending order of test volume, with the smallest test volume entering first. Intervals are set for sample vehicle entry during testing to ensure no interference. For temporary scheduling of problematic vehicles, they must leave the site after completing one test scenario or be towed away. The vehicle management module also includes the formulation and execution tracking of vehicle maintenance plans to ensure vehicles are always in good operating condition during testing, promptly handling vehicle malfunctions and abnormal situations, and ensuring the continuity and safety of the test.

[0218] The equipment management module is responsible for managing all types of equipment required for testing. This includes classifying and registering equipment, such as sensors (LiDAR, cameras, millimeter-wave radar, etc.), communication equipment, and data acquisition equipment, recording detailed specifications, performance indicators, calibration cycles, etc.; it also includes equipment calibration and maintenance, performing calibration operations according to prescribed times and standards to ensure the accuracy of equipment measurement data, as well as routine maintenance and fault repair to extend equipment lifespan and improve equipment utilization efficiency; and it also includes equipment inventory management, monitoring equipment inventory quantities and storage locations in real time, and allocating equipment resources promptly according to testing needs to avoid equipment shortages or idle waste.

[0219] The user management module is used to manage various user information participating in the test. Although this embodiment provides a whole vehicle testing system, a small number of personnel are still needed for system startup and maintenance. Therefore, the personnel used for management include test engineers, data analysts, and system administrators. The user management module is used to create user accounts and assign permissions, granting corresponding operating permissions based on different user roles and responsibilities. For example, 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. It also includes a function to track user operation records, such as recording all user operations in the testing system in detail for traceability and auditing, ensuring the compliance and security of the testing process. Furthermore, it includes user training and support, providing operational training for new users to help them become familiar with the use of the testing system, and providing technical support and solutions for problems encountered by users during use.

[0220] The data management module is used to build a comprehensive data management system. This includes data acquisition and storage, which comprehensively collects various types of data during the testing process through sensors and data acquisition devices distributed around the test vehicles and test roads. This includes vehicle operation data (speed, acceleration, steering angle, etc.), environmental data (weather conditions, road terrain, etc.), and system data (decision data and perception data from the vehicle-road-cloud system). This data is then categorized and stored, and an efficient data indexing mechanism is established to facilitate rapid data retrieval and access. The module also includes data cleaning and preprocessing, which cleans the collected raw data, removing noise, abnormal data, and duplicate data. Preprocessing steps such as data format conversion and data normalization are performed to improve data quality and lay the foundation for subsequent data analysis and mining. Finally, the module includes data analysis and visualization, which uses data analysis algorithms and tools to conduct in-depth analysis of the preprocessed data, generating vehicle control commands and extracting key performance indicators (KPIs), such as the perception accuracy, decision error rate, and control stability of the vehicle-road-cloud system. The analysis results are then visualized in intuitive charts, allowing testers to 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 enhancing the reliability of the cloud control platform.

[0222] In particular, the vehicle management function can schedule vehicles for simultaneous testing of multiple vehicles, thereby significantly improving the testing efficiency of multi-vehicle testing.

[0223] In some optional implementations, the cloud control platform also includes a business layer, which further includes a routine monitoring module, a test quality module, a safety monitoring module, a test scheduling module, and a control quality module. The routine monitoring module monitors the data collected by roadside equipment and the process data of the cloud control platform, and issues alarms for abnormal data based on the monitoring results. The test quality module evaluates the test quality based on the difference between the driving purpose of the vehicle control command and the actual driving effect of the test vehicle. The safety monitoring module determines the driving risk based on the environmental information collected by the roadside equipment and adjusts the test strategy accordingly. The test scheduling module arranges the execution order and execution time allocation of test tasks. The control quality module evaluates the control quality based on the difference between the vehicle control command and the response signals in the test vehicle.

[0224] Specifically, the standard monitoring module is used to continuously monitor the routine operating parameters and status of the vehicle-road-cloud system during testing. For example, it monitors in real-time vehicle speed, heading angle, the operating status of various sensors (such as the scanning frequency of the LiDAR, the image clarity of the camera, etc.), and the system's software progress. If any parameter exceeds the normal range or an abnormal signal is detected in the system, an alarm is immediately triggered and relevant data is recorded for subsequent analysis of the cause of the fault, thereby improving the reliability of the testing system.

[0225] The test quality module is used to establish a comprehensive test quality evaluation mechanism. By comparing the actual driving trajectory of the test vehicle under different test scenarios with the preset ideal trajectory, it determines 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 prioritizes ensuring the safety of vehicles and road facilities during testing. It utilizes multi-source sensor data fusion technology to provide comprehensive early warnings of potential dangers around the test vehicles. If a danger is detected, the algorithm controlling the vehicles is adjusted in a timely manner to prevent the cloud control platform from controlling the vehicles to drive recklessly and causing irreparable losses.

[0227] The test scheduling module is used to rationally arrange the execution order and time allocation of test tasks based on the test plan and resource status. It comprehensively considers factors such as test vehicle availability, equipment maintenance cycles, test scenario complexity, and environmental factors like weather to formulate the optimal test scheduling plan.

[0228] The control quality module is used to determine the system's control quality by analyzing the degree of matching between the vehicle's actual response and expected commands during acceleration, deceleration, and steering, as well as the vehicle's smoothness during driving (such as the rate of change of acceleration and the smoothness of steering). This allows for the identification of any problems with the system's signal transmission, reception, and message processing. Utilizing high-precision sensor data and specialized control performance analysis algorithms, the module quantitatively evaluates the system's control performance under different road conditions (such as straight driving, curves, and inclines) and traffic conditions (such as congestion and free flow), providing crucial data support for optimizing the system's control algorithm.

[0229] In addition, the cloud control platform includes a test management module, which is responsible for the organization, planning, and coordination of the entire test project. This includes developing detailed test plans that clearly define test objectives, scope, methods, and schedules.

[0230] In some optional embodiments, the cloud control platform provided by the present invention further 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 test vehicles.

[0231] The road-cloud gateway serves as a crucial connection hub between road testing facilities and the cloud server. On one hand, it is responsible for aggregating and organizing data collected by various sensors deployed at the road testing site (such as traffic flow monitoring sensors, weather monitoring sensors, and high-precision positioning base stations), and transmitting this data to the cloud server according to predetermined communication protocols and data formats. This data provides the cloud-based test management system with comprehensive road environment information, assisting in optimizing test scenarios and remotely dispatching test vehicles. On the other hand, the road-cloud gateway receives control commands and configuration parameters from the cloud server, such as parameter adjustment commands for test equipment on specific road sections and commands for switching test scenarios, and accurately distributes them to the corresponding roadside equipment, ensuring real-time, efficient, and stable information exchange between the road testing facilities and the cloud.

[0232] The vehicle-to-cloud gateway primarily enables bidirectional communication between the test vehicle and the cloud. On the vehicle side, the gateway collects various key data during the operation of the vehicle-to-infrastructure (V2I) cloud system, including the vehicle's own status information (such as vehicle speed, engine speed, and fault codes), decision data from the V2I cloud system (such as target path planning and obstacle avoidance strategies), and sensor perception data (such as LiDAR point cloud data and camera image data). This data is then preliminarily compressed and encrypted before being uploaded to the cloud. On the cloud side, the gateway receives remote control commands from the cloud server, such as commands to limit vehicle speed and to start / stop the V2I cloud system's functional modules. It then securely and reliably transmits these commands to the vehicle's internal control system, enabling remote monitoring and operation of the test vehicle. Simultaneously, the gateway is also responsible for heartbeat detection and connection maintenance between the vehicle and the cloud, ensuring uninterrupted communication even at high speeds or in complex network environments, providing a solid guarantee for the smooth conduct of unmanned testing.

[0233] In some optional implementations, the vehicle testing system provided by the present invention uses low-latency network communication, such as 5G network. The following detailed description takes 5G network as an example. The domain control communication terminal, roadside equipment and cloud control platform communicate wirelessly based on 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 roads, slopes, curvatures, lane line positions, and the locations of traffic signs and traffic lights. During testing, the vehicle system combines high-precision map data with data perceived by its own sensors, enabling more accurate positioning, route planning, and decision-making. For example, the vehicle-road-cloud system can use high-precision maps to anticipate curves on the road ahead, allowing it to adjust speed and steering angle in advance, improving driving safety and comfort. Simultaneously, 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 5G gateway is specifically designed for the 5G network environment of unmanned testing of vehicle-road-cloud systems, ensuring high-speed, low-latency, and high-reliability data transmission. In the road test system, large amounts of data collected by devices such as cameras and millimeter-wave radar can be rapidly uploaded to the cloud platform via the 5G private network, reducing data transmission latency and ensuring the cloud platform can promptly obtain the latest road environment information and make corresponding decisions. Between the vehicle system and the cloud platform, the 5G private network can stably transmit vehicle location data, operational status data, and decision data issued by the cloud platform, ensuring real-time communication between the vehicle and the cloud. This meets the stringent requirements of the vehicle-road-cloud system for timely and accurate data interaction, effectively improving the performance and response speed of the entire testing system.

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

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

Claims

1. A method for testing a complete vehicle, characterized in that, The method for an external domain controller used to establish a communication connection with a test vehicle includes: Vehicle control information is acquired, which is generated based on a preset test path and the positioning information of the test vehicle. The preset test path specifies the vehicle's driving route in the test site. The preset test path is extracted from the preset storage space of the external domain controller, or received from the cloud control platform. The vehicle control information is generated through the following steps: determining the starting position of the test vehicle on the preset test path based on the positioning information of the test vehicle; starting from the starting position, breaking down each straight line segment in the preset test path and determining the driving direction of each straight line segment; generating the vehicle control information based on the driving direction of each straight line segment in the preset test path, so that the vehicle travels a predetermined distance according to the driving direction and length of each straight line segment, then adjusts its steering according to the direction of the next straight line segment, and then travels a predetermined distance along the length of the next straight line segment, and so on, until the driving ends. The test vehicle is controlled to move according to the vehicle control information; During vehicle operation, performance data characterizing the test conditions are collected for the test vehicle. The method further includes: establishing a communication connection with the test vehicle before acquiring vehicle control information; and disconnecting the communication connection with the test vehicle when the test is completed. The communication connection can be established via wired or wireless means. The wired connection includes: setting up a pluggable domain controller interface on the test vehicle; inserting an external domain controller into the interface during testing; and unplugging the external domain controller from the interface after testing. The wireless connection includes: connecting the external domain controller to the test vehicle via wireless communication; and disconnecting the wireless communication after testing. During vehicle operation, 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 based on test site environmental information, which is collected by the roadside equipment; adjusting the vehicle control information according to the control strategy adjustment information to obtain new vehicle control information; controlling the test vehicle to drive according to the new vehicle control information; the cloud control platform generating control strategy adjustment information based on the test site environmental information includes: when weather risks are detected at the test site based on the test site environmental information, estimating road friction based on the test site environmental information; and according to the... The system calculates the collision risk between the test vehicles based on road friction. If the collision risk allows for testing, for the first vehicle that has not yet entered the test area, the control strategy adjustment information is determined to extend the entry interval time. For the second vehicle that has already entered the test area, the control strategy adjustment information is determined to reduce the speed of the second vehicle, and when the second vehicle completes its test, the entry interval time for the second vehicle's next test is extended. If the collision risk does not allow for testing, for the first vehicle that has not yet entered the test area, the control strategy adjustment information is determined to suspend entry. For the second vehicle that has already entered the test area, the control strategy adjustment information is determined to reduce the speed of the second vehicle, and the second vehicle is controlled to leave the test area.

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 can determine the performance test results based on the performance data.

3. The method according to claim 2, characterized in that, The acquisition of vehicle control information includes: The system receives first positioning information sent by the positioning and navigation unit, and / or receives 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 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 acquisition of vehicle control information includes: The system receives 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, first positioning information, and / or second positioning information. The first positioning information is sent by the positioning and navigation unit, which is an external positioning and navigation device placed on the test vehicle. The second positioning information is the test vehicle location information collected by the cloud control platform through roadside equipment installed at the test site.

5. The method according to claim 3 or 4, characterized in that, During vehicle operation, the method further includes: Collect status signals, including a first status signal of the actuator in the test vehicle and a second status signal of the cloud control platform; Determine whether an abnormal state has occurred based on the status signal; In the event of an abnormal condition, the test vehicle is controlled to brake suddenly.

6. The method according to claim 5, characterized in that, The test vehicle is also equipped with a sensing unit. When an abnormal state occurs, controlling the test vehicle to brake urgently includes: The sensing unit on the test vehicle is activated, and environmental information about the vehicle body is collected through the sensing unit. The test vehicle is controlled to brake suddenly based on the vehicle's environmental information.

7. A method for testing a complete vehicle, characterized in that, Applied to a cloud control platform, the method includes: The system receives performance data of the test vehicle sent by an external domain controller. This performance data is collected by the external domain controller during the test vehicle's operation. The external domain controller establishes a communication connection with the test vehicle before testing and disconnects the connection after testing. The communication connection can be established via wired or wireless means. A wired connection involves providing a pluggable domain controller interface on the test vehicle, inserting the external domain controller into this interface during testing, and unplugging it after testing. A wireless connection involves the external domain controller connecting to the test vehicle wirelessly and disconnecting the wireless communication after testing. The test vehicle is provided by the external domain controller... The external domain controller controls driving through vehicle control information, which is generated from a preset test path and the positioning information of the test vehicle. The preset test path specifies the vehicle's driving route in the test site. The preset test path is retrieved from the preset storage space of the external domain controller, or received from the cloud control platform. The vehicle control information is generated through the following steps: determining the starting position of the test vehicle on the preset test path based on the positioning information of the test vehicle; starting from the starting position, breaking down each straight line segment in the preset test path and determining the driving direction of each straight line segment; generating the vehicle control information based on the driving direction of each straight line segment in the preset test path. The method further includes: receiving test site environmental information sent by the roadside equipment; generating control strategy adjustment information based on the test site environmental information; sending the control strategy adjustment information to the external domain controller to adjust the vehicle control information; the step of generating control strategy adjustment information based on the test site environmental information includes: when weather risk is detected at the test site based on the test site environmental information, estimating road friction based on the test site environmental information; calculating the collision risk between the participating vehicles based on the road friction; if the collision risk allows testing, for the first vehicle that has not yet entered the test site, determining the control strategy adjustment information to extend the entry interval time; for the second vehicle that has already entered the test site, determining the control strategy adjustment information to reduce the speed of the second vehicle, and extending the entry interval time for the second vehicle's next test when the second vehicle completes its test; if the collision risk does not allow testing, for the first vehicle that has not yet entered the test site, determining the control strategy adjustment information to suspend entry; for the second vehicle that has already entered the test site, determining the control strategy adjustment information to reduce the speed of the second vehicle, and controlling the second vehicle to leave the test site.

8. The method according to claim 7, characterized in that, The method further includes: The vehicle's driving route in the test site is created based on a high-definition map, thus obtaining the preset test path; The system receives second positioning information sent by a roadside device, which is collected by the roadside device at the test site and is used to record the location information of the test vehicle. The preset test path and the second location information are sent to the external domain controller.

9. The method according to claim 8, characterized in that, The method further includes: Receive the first positioning information sent by the positioning and navigation unit; Vehicle control information is generated based on the preset test path, the first positioning information, and / or the second positioning information. The vehicle control information is sent to the external domain controller.

10. The method according to claim 8, characterized in that, The method further includes: Obtain the maximum test sample size of the test site, and determine the test vehicles that need to be tested based on the maximum test sample size; Obtain the number of test scenarios for each test vehicle, wherein the test site includes multiple test scenarios; Arrange the entry order of each test vehicle according to the number of test scenarios from smallest to largest; During the test, the test scenario status sent by the roadside equipment is received; Analyze the occupancy status of each test scenario based on the test scenario status; If the test scenario that the target vehicle is currently scheduled to enter is occupied by other vehicles, the queue number corresponding to the test scenario that the target vehicle still needs to enter is detected. The queue number is used to represent the number of vehicles that have been tested before the target vehicle. Determine the target test scenario corresponding to the minimum queue size, and dispatch the target vehicle to the target test scenario.

11. The method according to claim 8, characterized in that, The step of generating control strategy adjustment information based on the test site environment information includes: When the test site environment information detects the risk of obstacles in the test site, the feasibility of bypassing the obstacles is determined based on the size and position of the obstacles in the test site environment information. When it is impossible to bypass the obstacle, the emergency braking strategy is determined to be the control strategy adjustment information; When it is possible to bypass the obstacle, the control strategy adjustment information is determined to first execute the obstacle bypass strategy, and after successfully bypassing the obstacle, the preset test path is continued to be executed.

12. The method according to claim 8, characterized in that, The method further includes: Receive the actual driving trajectory sent by the roadside equipment or positioning and navigation unit, wherein the actual driving trajectory is the actual route traveled by the test vehicle during the test; The actual driving trajectory is compared with the preset test path; The test quality is determined based on the difference between the actual driving trajectory and the preset test path.

13. 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 is used to acquire vehicle control information. This vehicle control information is generated based on a preset test path and the positioning information of the test vehicle. The preset test path specifies the vehicle's driving route in the test area. The preset test path is extracted from the preset storage space of the external domain controller, or received from the cloud control platform. The vehicle control information is generated through the following steps: determining the starting position of the test vehicle on the preset test path based on its positioning information; starting from the starting position, breaking down each straight line segment of the preset test path and determining the driving direction of each straight line segment; and generating the vehicle control information based on the driving direction of each straight line segment in the preset test path. The vehicle control module is 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 characterizing the test conditions for the test vehicle during vehicle operation. The communication establishment module is used to establish a communication connection with the test vehicle before acquiring vehicle control information. The communication connection can be established via wired or wireless means. The wired connection involves setting up a pluggable domain controller interface on the test vehicle, inserting an external domain controller into this interface during testing, and unplugging the external domain controller after testing. The wireless connection involves the external domain controller connecting to the test vehicle via wireless communication, and disconnecting the wireless communication after testing. An adjustment information receiving module is used to receive control strategy adjustment information sent by the cloud control platform. This control strategy adjustment information is generated by the cloud control platform based on test site environmental information, which is collected by roadside equipment. The cloud control platform generates the control strategy adjustment information based on the test site environmental information, including: when weather risks are detected at the test site based on the test site environmental information, estimating road friction based on the test site environmental information; calculating the collision risk between participating vehicles based on the road friction; if the collision risk allows testing, for the first vehicle that has not yet entered the test site, determining the control strategy adjustment information to extend the entry interval; for the second vehicle that has already entered the test site, determining the control strategy adjustment information to reduce the speed of the second vehicle, and extending the entry interval for the second vehicle's next test after the second vehicle's test is completed; if the collision risk does not allow testing, for the first vehicle that has not yet entered the test site, determining the control strategy adjustment information to suspend entry; for the second vehicle that has already entered the test site, determining the control strategy adjustment information to reduce the speed of the second vehicle, and controlling the second vehicle to leave the test site. The adjustment module is used to adjust the vehicle control information according to the control strategy adjustment information to obtain new vehicle control information. The continuous control module is used to control the driving of the test vehicle based on the new vehicle control information; the communication disconnection module is used to disconnect the communication connection with the test vehicle when the test is completed.

14. A vehicle testing device, characterized in that, The device, applied to a cloud control platform, includes: A data receiving module is used to receive performance data of the test vehicle sent by an external domain controller. This performance data is collected by the external domain controller during the test vehicle's operation. The external domain controller establishes a communication connection with the test vehicle before testing and disconnects the communication connection after testing. The communication connection can be established via wired or wireless means. A wired connection involves providing a pluggable domain controller interface on the test vehicle, inserting the external domain controller into this interface during testing, and unplugging it after testing. A wireless connection involves the external domain controller connecting to the test vehicle wirelessly, and disconnecting the wireless communication after testing. The vehicle is controlled by the external domain controller via vehicle control information, which is generated from a preset test path and the positioning information of the test vehicle. The preset test path specifies the vehicle's route in the test area and is retrieved from the preset storage space of the external domain controller or received from the cloud control platform. The vehicle control information is generated through the following steps: determining the starting position of the test vehicle on the preset test path based on its positioning information; starting from the starting position, breaking down each straight line segment of the preset test path and determining the driving direction of each straight line segment; and generating the vehicle control information based on the driving direction of each straight line segment in the preset test path. The environmental monitoring module is used to receive environmental information of the test site sent by the roadside equipment; An adjustment strategy generation module is used to generate control strategy adjustment information based on test site environmental information. Generating control strategy adjustment information based on the test site environmental information includes: when weather risks are detected at the test site based on the test site environmental information, estimating road friction based on the test site environmental information; calculating the collision risk between participating vehicles based on the road friction; if the collision risk allows testing, for the first vehicle that has not yet entered the test site, determining the control strategy adjustment information to extend the entry interval time; for the second vehicle that has already entered the test site, determining the control strategy adjustment information to reduce the speed of the second vehicle, and extending the entry interval time for the second vehicle's next test when the second vehicle completes its test; if the collision risk does not allow testing, for the first vehicle that has not yet entered the test site, determining the control strategy adjustment information to suspend entry; for the second vehicle that has already entered the test site, determining the control strategy adjustment information to reduce the speed of the second vehicle, and controlling the second vehicle to leave the test site. The adjustment strategy sending module is used to send control strategy adjustment information to the external domain controller in order to adjust the vehicle control information.

15. A vehicle testing system, characterized in that, include: External domain controllers, roadside equipment, and cloud control platforms; The external domain controller establishes a communication connection with the test vehicle before the test and disconnects from the test vehicle after the test. The external domain controller and the cloud control platform have a communication connection. The roadside equipment is installed 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 according to any one of claims 1-6, and the cloud control platform is used to execute the method according to any one of claims 7-12.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method as described in any one of claims 1-12.

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