Vehicle driving assistance system test method and vehicle recharge system

Abstract

The embodiment of the invention discloses a vehicle driving assistance system test method and a vehicle recharge system, relates to the technical field of automatic driving, and aims to reduce the test cost of a vehicle driving assistance system. The method comprises the following steps: acquiring pre-stored bus data; the bus data is acquired by actual measurement of a vehicle of a first vehicle type through a road; converting the bus data to obtain test data available for the vehicle driving assistance system of the second vehicle type; and sending the test data to the vehicle driving assistance system of the second vehicle type so as to test the vehicle driving assistance system of the second vehicle type. The method is suitable for testing the vehicle driving assistance system.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular, to a method for testing a vehicle driving assistance system and a vehicle backfilling system. Background Art

[0002] With the progress of the times, the vehicle ownership of vehicles equipped with advanced driving assistance system (ADAS) solutions has been increasing year by year. The test and verification of ADAS usually require a huge amount of data to continuously improve the perception, fusion, and function decision-making capabilities. Therefore, the ADAS data collection service is indispensable in the development process of a certain vehicle model (project).

[0003] In the prior art, when testing and verifying the ADAS installed in a vehicle model, the data collected by the vehicle itself of this vehicle model is used, which increases the test cost of ADAS. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a method for testing a vehicle driving assistance system and a vehicle backfilling system, which are convenient for reducing the test cost of the vehicle driving assistance system.

[0005] In a first aspect, the embodiments of this application provide a method for testing a vehicle driving assistance system, including: obtaining pre-stored bus data; the bus data is obtained by actual road measurement and collection of a vehicle of a first vehicle model; converting the bus data to obtain test data available for the vehicle driving assistance system of a second vehicle model; sending the test data to the vehicle driving assistance system of the second vehicle model to test the vehicle driving assistance system of the second vehicle model.

[0006] Optionally, the bus data includes a first bus message; wherein, the converting the bus data to obtain test data available for the vehicle driving assistance system of a second vehicle model includes: parsing the first bus message according to a preset first rule to obtain a first signal value; constructing a second bus message available for the vehicle driving assistance system of the second vehicle model according to a preset second rule and the first signal value.

[0007] Optionally, parsing the first bus message according to a preset first rule to obtain a first signal value includes: parsing the first bus message based on a preset message information mapping table between a first vehicle model and a second vehicle model and a preset first bus matrix to obtain the first signal value; wherein the first bus matrix corresponds to the first vehicle model; constructing a second bus message available for a vehicle driving assistance system of the second vehicle model according to a preset second rule and the first signal value includes: constructing a second bus message available for the second vehicle model according to the preset message information mapping table between the first vehicle model and the second vehicle model, the first signal value, and a preset second bus matrix; wherein the second bus matrix corresponds to the second vehicle model.

[0008] Optionally, parsing the first signal value in the first bus message based on a preset message information mapping table between a first vehicle model and a second vehicle model and a preset first bus matrix includes: determining a first signal name corresponding to the first bus message according to an identifier of the first bus message and the preset message information mapping table between the first vehicle model and the second vehicle model; determining a first target position of a first signal value to be searched in the first bus message according to the first signal name and the preset first bus matrix; wherein the first bus matrix includes a correspondence between signal names of the first vehicle model and positions of signal values in the bus message; and determining the first signal value in the first bus message according to the first target position.

[0009] Optionally, constructing a second bus message available for the second vehicle model according to the preset message information mapping table between the first vehicle model and the second vehicle model, the first signal value, and a preset second bus matrix includes: determining an identifier of the second bus message to be constructed and a second signal name corresponding to the identifier according to an identifier of the first bus message and the preset message information mapping table between the first vehicle model and the second vehicle model; determining a second target position of a second signal value in the second bus message to be constructed according to the second signal name and the second bus matrix; wherein the second signal value is determined based on the first signal value; the second bus matrix includes a correspondence between signal names of the second vehicle model and positions of signal values in the bus message; and constructing the second bus message according to the second signal value, the identifier of the second bus message to be constructed, and the second target position.

[0010] Optionally, before constructing the second bus message, the method further includes: determining the second signal value according to the first signal value and a preset conversion relation formula; wherein the preset conversion relation includes a conversion relation between the first signal value and the second signal value.

[0011] Optionally, the method further includes: collecting image data in real time through an imaging module; wherein the image data includes first image data and second image data captured at adjacent times; the imaging module is a device used on a vehicle of the second vehicle model; determining the frame rate of the captured images of the imaging module according to the time difference between the imaging module capturing the first image data and the second image data; obtaining pre-stored image data; the image data is obtained by actual road measurement and collection of a vehicle of the first vehicle model; and sending the pre-stored image data to the vehicle driving assistance system at the frame rate.

[0012] Optionally, the method further includes: dividing the pre-stored bus data and the pre-stored image data into different data groups according to time periods; wherein each data group includes bus data and image data in the same time period; the data group includes a first data group; the first data group corresponds to a first time period; wherein the step of sending the pre-stored image data to the vehicle driving assistance system at the frame rate includes: sending the image data in the first data group to the vehicle driving assistance system within the first time period at the frame rate; the step of sending the test data to the vehicle driving assistance system of the second vehicle model includes: while sending the image data in the first data group to the vehicle driving assistance system of the second vehicle model, sending the test data available to the vehicle driving assistance system of the second vehicle model corresponding to the bus data in the first data group to the vehicle driving assistance system within the first time period.

[0013] Optionally, the method further includes: receiving an operation trigger signal sent by the vehicle driving assistance system of the second vehicle model; the operation trigger signal is determined by the vehicle driving assistance system of the second vehicle model according to the first data group; and storing the bus data and the image data in the first data group according to the operation trigger signal.

[0014] Optionally, the method further includes: collecting image data; copying the image data to obtain first-path image data and second-path image data; storing the first-path image data and sending the second-path image data to the vehicle driving assistance system of the second vehicle model, so that the vehicle driving assistance system of the second vehicle model determines whether to assist in driving the vehicle of the second vehicle model according to the second-path image data.

[0015] Second aspect, an embodiment of the present application provides a vehicle backfilling system, including: a backfilling module, configured to obtain pre-stored bus data; the bus data is obtained by actual road measurement of a vehicle of a first vehicle model; convert the bus data to obtain test data available for a vehicle driving assistance system of a second vehicle model; send the test data to a domain controller in the vehicle of the second vehicle model; the domain controller is connected to the backfilling module, and is configured to receive the test data sent by the backfilling module, and test the vehicle driving assistance system in the domain controller according to the test data.

[0016] Optionally, the bus data includes a first bus message; wherein, the backfilling module includes: a parsing sub-module, configured to parse the first bus message according to a preset first rule to obtain a first signal value; a construction module, configured to construct a second bus message available for a vehicle driving assistance system of a second vehicle model according to a preset second rule and the first signal value.

[0017] Optionally, the parsing sub-module includes: a parsing sub-module, configured to parse the first bus message based on a preset message information mapping table between the first vehicle model and the second vehicle model and a preset first bus matrix to obtain a first signal value; wherein, the first bus matrix corresponds to the first vehicle model; the construction module includes: a construction sub-module, configured to construct a second bus message available for the second vehicle model according to the preset message information mapping table between the first vehicle model and the second vehicle model, the first signal value, and a preset second bus matrix; wherein, the second bus matrix corresponds to the second vehicle model.

[0018] Optionally, the parsing sub-module is specifically configured to: determine a first signal name corresponding to the first bus message according to an identifier of the first bus message and a preset message information mapping table between the first vehicle model and the second vehicle model; determine a first target position of a first signal value to be searched in the first bus message according to the first signal name and a preset first bus matrix; wherein, the first bus matrix includes a correspondence between signal names of the first vehicle model and positions of signal values in the bus message; determine the first signal value in the first bus message according to the first target position.

[0019] Optionally, the building sub-module is specifically configured to: determine the identifier of the second bus message to be built and the second signal name corresponding to the identifier according to the identifier of the first bus message and the preset mapping table of message information between the first vehicle model and the second vehicle model; determine the second target position of the second signal value in the second bus message to be built according to the second signal name and the second bus matrix; wherein the second signal value is determined based on the first signal value; the second bus matrix includes the correspondence between the signal name of the second vehicle model and the position of the signal value in the bus message; build the second bus message according to the second signal value, the identifier of the second bus message to be built, and the second target position.

[0020] Optionally, the backfilling module is further configured to: before the building sub-module builds the second bus message, determine the second signal value according to the first signal value and the preset conversion relationship formula; wherein the preset conversion relationship includes the conversion relationship between the first signal value and the second signal value.

[0021] Optionally, the system further includes: a camera module, connected to the backfilling module, for real-time acquisition of image data; wherein the image data includes first image data and second image data captured at adjacent times; the backfilling module is further configured to determine the frame rate of the images captured by the camera module according to the time difference between the camera module capturing the first image data and the second image data; obtain the pre-stored image data; the image data is obtained by actual measurement of the vehicle of the first vehicle model passing through the road; and send the pre-stored image data to the domain controller at the frame rate.

[0022] Optionally, the backfilling module is further configured to: divide the pre-stored bus data and the pre-stored image data into different data groups according to time periods; wherein each data group includes bus data and image data in the same time period; the data groups include a first data group; the first data group corresponds to a first time period; and send the image data in the first data group to the domain controller at the frame rate within the first time period. The backfilling module is specifically configured to: while sending the image data in the first data group to the vehicle driving assistance system of the second vehicle model, send the test data available for the vehicle driving assistance system of the second vehicle model corresponding to the bus data in the first data group to the vehicle driving assistance system within the first time period.

[0023] Optionally, the recharging module is further configured to: receive an operation trigger signal sent by the domain controller; the operation trigger signal is determined by a vehicle driving assistance system in the domain controller according to the first data set; and store the bus data and image data in the first data set according to the operation trigger signal.

[0024] Optionally, the system further includes: a camera module for collecting image data; a one-to-two chip connected to the camera module for copying the image data collected by the camera module to obtain a first path of image data and a second path of image data, sending the first path of image data to a data acquisition device, and sending the second path of image data to the domain controller; the data acquisition device connected to the one-to-two chip for receiving the first path of image data sent by the one-to-two chip and storing the first path of image data; the domain controller connected to the one-to-two chip, further configured to receive the second path of image data sent by the one-to-two chip, and a vehicle driving assistance system in the domain controller determines whether to assist in driving the vehicle of the second model according to the second path of image data.

[0025] The vehicle driving assistance system test method and vehicle recharging system of this embodiment convert the bus data obtained by road actual measurement of a vehicle of a first model stored in advance to obtain test data available for the vehicle driving assistance system of a second model, and send the test data to the vehicle driving assistance system of the second model, thereby testing the vehicle driving assistance system of the second model. Since the bus data obtained by road actual measurement of a vehicle of a first model stored in advance is converted, the converted data is used as test data for testing the vehicle driving assistance system of the second model, that is, the data collected by road actual measurement of a vehicle of the first model is reused in the test of the vehicle driving assistance system of the second model, thereby facilitating the reduction of the test cost of the vehicle driving assistance system. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is a flowchart of a vehicle driving assistance system test method provided by an embodiment of the present application; Figure 2 It is a mapping table of message information between a first model and a second model in an embodiment of the present application; Figure 3Schematic diagram of the process of recharging data provided by another embodiment of the present application; Figure 4 Schematic diagram of the structure of the vehicle recharging system provided by an embodiment of the present application; Figure 5 Schematic diagram of the structure of the vehicle acquisition system provided by an embodiment of the present application; Figure 6 Schematic diagram of the process of verifying the vehicle driving assistance system in another embodiment of the present application. Detailed implementation manners

[0028] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0029] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0030] To enable those skilled in the art to better understand the technical concept, implementation solution and beneficial effects of the embodiments of the present application, the following will be described in detail through specific embodiments.

[0031] Figure 1 Schematic diagram of the process of the vehicle driving assistance system test method provided by an embodiment of the present application. As Figure 1 shown, the vehicle driving assistance system test of this embodiment may include: S101. Obtain the bus data stored in advance.

[0032] The bus data is obtained by actual road measurement and collection of vehicles of the first vehicle type. Among them, the bus data can be the data collected through the body bus and / or the radar bus.

[0033] The bus data may include lateral acceleration, the quality factor of the vehicle's own angular velocity, the quality factor of the vehicle's own vehicle speed, and / or the quality factor of the vehicle's own angular velocity.

[0034] S102. Convert the bus data to obtain test data available for the vehicle driving assistance system of the second vehicle type.

[0035] Convert the bus data collected from a vehicle of a first vehicle model into test data that can be used during the testing of the vehicle driving assistance system of another vehicle model, i.e., the second vehicle model. When testing the vehicle driving assistance system of the second vehicle model, the bus data collected from the vehicle of the first vehicle model can be reused. Thus, the testing efficiency of the vehicle driving assistance system of the second vehicle model is improved, and the testing cost is reduced.

[0036] S103. Send the test data to the vehicle driving assistance system of the second vehicle model to test the vehicle driving assistance system of the second vehicle model.

[0037] In this embodiment, by converting the bus data obtained through road actual measurement of a vehicle of the first vehicle model stored in advance, test data available for the vehicle driving assistance system of the second vehicle model is obtained, and the test data is sent to the vehicle driving assistance system of the second vehicle model to test the vehicle driving assistance system of the second vehicle model. Since the bus data obtained through road actual measurement of the vehicle of the first vehicle model stored in advance is converted, and the converted data is used as the test data for testing the vehicle driving assistance system of the second vehicle model, that is, the data collected through road actual measurement of the vehicle of the first vehicle model is reused in the testing of the vehicle driving assistance system of the second vehicle model. Thus, it is convenient to reduce the testing cost of the vehicle driving assistance system, improve the testing efficiency of the vehicle driving assistance system of the second vehicle model, and avoid the problem of high testing cost caused by the need to collect bus data through road actual measurement of the vehicle itself for testing the vehicle driving assistance system of the second vehicle model.

[0038] To obtain the data corresponding to the vehicle model to be reused in a targeted manner, in some examples, obtaining the bus data stored in advance in step S101 may include: S101a. Determine the first vehicle model according to the preset configuration information.

[0039] The configuration information includes the first vehicle model corresponding to the bus data to be reused, that is, it can be specified in the configuration information to reuse the data collected through road actual measurement of the vehicle of the first vehicle model.

[0040] S101b. Obtain the bus data obtained through road actual measurement of the vehicle of the first vehicle model.

[0041] When the first vehicle model is determined in step S101a, obtain the bus data obtained through road actual measurement of the first vehicle model.

[0042] In an example, the bus data includes a first bus message; wherein, converting the bus data in step S102 to obtain test data available for the vehicle driving assistance system of the second vehicle model may include: S102a. Parse the first bus message according to the preset first rule to obtain the first signal value.

[0043] A first signal value is included in the first bus message, and the first signal value can be parsed from the first bus message according to a preset first rule. In some examples, the preset first rule may be the composition rule of the bus message corresponding to the first vehicle model.

[0044] S102b. Construct a second bus message available for the vehicle driving assistance system of the second vehicle model according to the preset second rule and the first signal value.

[0045] In some examples, the preset second rule may be the composition rule of the bus message corresponding to the second vehicle model.

[0046] The first signal value can be placed at a specific position in a message according to the preset second rule, so as to form a second bus message available for the vehicle driving assistance system of the second vehicle model.

[0047] In order to construct the second bus message available for the second vehicle model more conveniently and quickly, in one example, parsing the first bus message according to the preset first rule in step S102a to obtain the first signal value includes: A1. Parse the first bus message based on the preset message information mapping table between the first vehicle model and the second vehicle model and the preset first bus matrix to obtain the first signal value.

[0048] In this embodiment, the first bus matrix corresponds to the first vehicle model. The first bus message may include one signal value or multiple signal values.

[0049] Constructing the second bus message available for the vehicle driving assistance system of the second vehicle model according to the preset second rule and the first signal value in step S102b may include: A2. Construct a second bus message available for the second vehicle model according to the preset message information mapping table between the first vehicle model and the second vehicle model, the first signal value, and the preset second bus matrix.

[0050] In this embodiment, the second bus matrix corresponds to the second vehicle model.

[0051] In this embodiment, the first bus message is converted into the second bus message through the message information mapping table between the first vehicle model and the second vehicle model, the first bus matrix, and the second bus matrix.

[0052] In one example, parsing the first signal value in the first bus message based on the preset message information mapping table between the first vehicle model and the second vehicle model and the preset first bus matrix in A1 may include: A11. Determine the first signal name corresponding to the first bus message according to the identifier of the first bus message and the preset message information mapping table between the first vehicle model and the second vehicle model.

[0053] The first signal name corresponds to the first signal value. For example, the first signal name representing the lateral acceleration is abc, and the first signal value is 10 m / s² (the specific value of the lateral acceleration).

[0054] It can be understood that the message information mapping table between the first vehicle model and the second vehicle model includes the correspondence between the bus identifier and the signal name.

[0055] A12. Determine the first target position of the first signal value to be searched in the first bus message according to the first signal name and the preset first bus matrix.

[0056] Among them, the first bus matrix includes the correspondence between the signal name of the first vehicle model and the position of the signal value in the bus message.

[0057] In the case where the first bus message includes multiple signal values, the positions of different signal values in the first bus message are different.

[0058] A13. Determine the first signal value in the first bus message according to the first target position.

[0059] In an embodiment, according to the preset message information mapping table between the first vehicle model and the second vehicle model, the first signal value, and the preset second bus matrix, constructing the second bus message available for the second vehicle model may include: A21. Determine the identifier of the second bus message to be constructed and the second signal name corresponding to the identifier according to the identifier of the first bus message and the preset message information mapping table between the first vehicle model and the second vehicle model.

[0060] It can be understood that the message information mapping table between the first vehicle model and the second vehicle model includes the identifiers and signal names of the bus messages corresponding to the same signal in the first vehicle model and the second vehicle model.

[0061] According to the identifier of the first bus message and the mapping table, the identifier of the second bus message corresponding to the second vehicle model and the second signal name can be determined.

[0062] A22. Determine the second target position of the second signal value in the second bus message to be constructed according to the second signal name and the second bus matrix.

[0063] Among them, the second signal value is determined based on the first signal value; the second bus matrix includes the correspondence between the signal name of the second vehicle model and the position of the signal value in the bus message.

[0064] A23. Construct the second bus message according to the second signal value, the identifier of the second bus message to be constructed, and the second target position.

[0065] As shown Figure 2 in the message information mapping table of the first vehicle model and the second vehicle model. Assume that the model of the first vehicle is E245 and the model of the second vehicle is KX11-A3. Each row in the table corresponds to the same signal of the two vehicle models. The signals include the quality factor of the vehicle's own speed, the quality factor of the vehicle's own angular velocity, the vehicle's own angular velocity, and the lateral acceleration. The "message Name" in the table is the message ID, and the "Signal Name" is the signal name.

[0066] The first vehicle model and the second vehicle model may use different units for the same signal, which will result in different numerical values used by the two vehicle models to represent the same magnitude of the signal. In order to reuse the bus data collected by the first vehicle model and keep the signal magnitudes the same, in some examples, before constructing the second bus message, the method further includes: A24. Determine the second signal value according to the first signal value and a preset conversion formula.

[0067] In this embodiment, the preset conversion relationship includes the conversion relationship between the first signal value and the second signal value.

[0068] For example, if the signal is angular acceleration, the unit of the first signal value is rad / s, while the unit of the second target signal value is ° / s. The conversion relationship included in the message information mapping table of the first vehicle model and the second vehicle model is: B = A × π / 180°, where A is the first signal value and B is the second signal value.

[0069] In some examples, the conversion formula can be included in the message information mapping table of the first vehicle model and the second vehicle model.

[0070] In a specific example, refer to Figure 3 , The backfill module is specifically used for: 1. Generate the signal queue and the corresponding bus message queue required for the second vehicle model (backfill vehicle model) according to the message information mapping table (mapping table) of the first vehicle model and the second vehicle model.

[0071] 2. Read the bus message, and according to the bus matrix in the mapping table and the first vehicle model, parse out the signal value (signal value), and convert it into the unit required by the backfill vehicle model.

[0072] 3. Give the parsed signal value to the signal queue of the backfill vehicle model.

[0073] 4. When the signal queue receives the updated signal value, it will synchronously update the message list, and the message list will send messages regularly according to the period in the dbc.

[0074] In order to enrich the data for testing the vehicle driving assistance system, the testing method in some examples may further include: S104. Collect image data in real time through the camera module.

[0075] In this embodiment, the image data includes first image data and second image data captured at adjacent times; the camera module is a device used on a vehicle of the second vehicle type.

[0076] S105. Determine the frame rate of the images captured by the camera module according to the time difference between the first image data and the second image data captured by the camera module.

[0077] Determine the frame rate of the images captured by the camera module through the time difference between two images captured by the camera module at adjacent times.

[0078] S106. Obtain the pre-stored image data.

[0079] The image data in this embodiment is obtained by actual road measurement of a vehicle of the first vehicle type.

[0080] S107. Send the pre-stored image data to the vehicle driving assistance system at the frame rate.

[0081] Send the pre-stored image data to the vehicle driving assistance system by determining the frame rate in step S105. In this way, it is possible to more realistically simulate the actual vehicle to collect data through road measurement and use these data to test the vehicle driving assistance system of the second vehicle type.

[0082] Furthermore, in order to more realistically simulate the actual vehicle to collect data through road measurement and use these data to test the vehicle driving assistance system of the second vehicle type, in some examples, the method of this embodiment may further include: S108. Divide the pre-stored bus data and the pre-stored image data according to time periods to obtain different data groups; where each data group includes bus data and image data in the same time period.

[0083] The data group of this embodiment includes a first data group; the first data group corresponds to a first time period.

[0084] Among them, the step of sending the pre-stored image data to the vehicle driving assistance system at the frame rate in step S107 may include: S107a. Send the image data in the first data group to the vehicle driving assistance system at the frame rate within the first time period.

[0085] The step of sending test data to the vehicle driving assistance system of the second vehicle type in step S103 may include: S103a. While sending the image data in the first data group to the vehicle driving assistance system of the second vehicle model, within the first time period, send the test data available for the vehicle driving assistance system of the second vehicle model corresponding to the bus data in the first data group to the vehicle driving assistance system.

[0086] The image data included in the first data group is sent to the vehicle driving assistance system of the second vehicle model at the frame rate determined in step S105. At the same time, the test data available for the vehicle driving assistance system of the second vehicle model converted from the bus data in the first data is also sent to the vehicle driving assistance system of the second vehicle model. And the image data and test data corresponding to the first data group are both sent within the first time period.

[0087] To facilitate subsequent analysis of the accuracy of the vehicle driving assistance system's processing of input data, in some examples, the method may further include: S109. Receive the operation trigger signal sent by the vehicle driving assistance system of the second vehicle model.

[0088] The operation trigger signal is determined by the vehicle driving assistance system of the second vehicle model based on the first data group.

[0089] The vehicle driving assistance system processes the image data and test data in the received data group. When the processing result indicates that the vehicle driving assistance system needs to assist in operating the vehicle, the vehicle driving assistance system issues an operation trigger signal.

[0090] S110. According to the operation trigger signal, store the bus data and image data in the first data group.

[0091] Store the bus data and image data in the first data group to facilitate subsequent analysis of the accuracy of the vehicle driving assistance system's processing of input data, and further determine whether it is necessary to adjust the vehicle driving assistance system.

[0092] Under the working conditions of road actual measurement of the vehicle of the second vehicle model in this embodiment, not only the collected data needs to be used as the input of the vehicle driving assistance system for the vehicle driving assistance system to further determine whether to assist in driving the vehicle of the second vehicle model, but also the collected data needs to be stored for subsequent analysis of the accuracy of the vehicle driving assistance system. In the existing data acquisition systems in the industry, the video mipi signal output by the camera module is serialized and sent to the acquisition device through a coaxial cable. The acquisition device will send the signal back to the controller through the coaxial cable after receiving the data, realizing the closed-loop of the controller video link, and at the same time saving the data. However, since the data link is a serial closed-loop, as long as there is a problem with a certain component on the closed-loop link, the entire data link will have problems. In the functional test of the actual vehicle, if the data link has problems, the function of the vehicle driving assistance system will be abnormal, further reducing the safety of the vehicle equipped with the vehicle driving assistance system.

[0093] To improve the safety of the vehicle, in one embodiment of the present application, the serial connection method is changed. The video signal output by the camera module is split into two video signals through a specific chip. One video signal is sent to the acquisition device for storage; the other video signal is sent to the domain controller. In this way, the two split video links can ensure that the link of the acquisition device and the link of the domain controller do not affect each other, and the problem of the acquisition device video link will not affect the link from the camera module to the domain controller. In some examples, the test method further includes: S111. Collect image data.

[0094] S112. Copy the image data to obtain the first path of image data and the second path of image data.

[0095] S113. Store the first path of image data and send the second path of image data to the vehicle driving assistance system of the second vehicle model, so that the vehicle driving assistance system of the second vehicle model determines whether to assist in driving the vehicle of the second vehicle model according to the second path of image data.

[0096] In this embodiment, the collected image data is split into two parts, and the image data for storage and the data used as the input of the vehicle driving assistance system do not affect each other, which is convenient for improving the safety of the vehicle of the second vehicle model during road actual measurement.

[0097] Figure 4 It is a schematic structural diagram of the vehicle backflow system provided by one embodiment of the present application, as Figure 4As shown, the vehicle backfilling system provided in this embodiment includes: a backfilling module 1 for obtaining pre-stored bus data; the bus data is obtained by actual road measurement of a vehicle of a first vehicle model; converting the bus data to obtain test data available for the vehicle driving assistance system of a second vehicle model; and sending the test data to a domain controller 2 in the vehicle of the second vehicle model; the domain controller 2 is connected to the backfilling module 1 and is configured to receive the test data sent by the backfilling module 1 and test the vehicle driving assistance system in the domain controller 2 according to the test data.

[0098] The vehicle backfilling system of this embodiment is applied to the test phase of the vehicle driving assistance system.

[0099] As Figure 4 In the embodiment shown, the backfilling module 1 can be arranged in an industrial computer, and the test data is backfilled into the domain controller 4 through a Can card.

[0100] In this embodiment, the backfilling module converts the pre-stored bus data obtained by actual road measurement of a vehicle of a first vehicle model to obtain test data available for the vehicle driving assistance system of a second vehicle model, and sends the test data to the domain controller of the second vehicle model, thereby testing the vehicle driving assistance system in the domain controller. Since the pre-stored bus data obtained by actual road measurement of a vehicle of a first vehicle model is converted, the converted data is used as the test data for testing the vehicle driving assistance system of the second vehicle model. That is, the data obtained by actual road measurement of the vehicle of the first vehicle model is reused in the test of the vehicle driving assistance system of the second vehicle model, which is convenient for reducing the test cost of the vehicle driving assistance system, improving the test efficiency of the vehicle driving assistance system of the second vehicle model, and avoiding the problem of high test cost caused by the need to perform actual road measurement to collect bus data on the vehicle itself for testing the vehicle driving assistance system of the second vehicle model.

[0101] Optionally, the bus data includes a first bus message; wherein, the backfilling module includes: a parsing sub-module for parsing the first bus message according to a preset first rule to obtain a first signal value; a construction module for constructing a second bus message available for the vehicle driving assistance system of the second vehicle model according to a preset second rule and the first signal value.

[0102] Optionally, the parsing sub-module includes: a parsing sub-module for parsing the first bus message based on a preset message information mapping table of a first vehicle model and a second vehicle model and a preset first bus matrix to obtain a first signal value; wherein, the first bus matrix corresponds to the first vehicle model; the building module includes: a building sub-module for building a second bus message available for the second vehicle model according to the preset message information mapping table of the first vehicle model and the second vehicle model, the first signal value, and a preset second bus matrix; wherein, the second bus matrix corresponds to the second vehicle model.

[0103] Optionally, the parsing sub-module is specifically configured to: determine a first signal name corresponding to the first bus message according to an identifier of the first bus message and a preset message information mapping table of a first vehicle model and a second vehicle model; determine a first target position of a first signal value to be searched in the first bus message according to the first signal name and a preset first bus matrix; wherein, the first bus matrix includes a correspondence between signal names of the first vehicle model and positions of signal values in the bus message; and determine the first signal value in the first bus message according to the first target position.

[0104] Optionally, the building sub-module is specifically configured to: determine an identifier of a second bus message to be built and a second signal name corresponding to the identifier according to an identifier of the first bus message and the preset message information mapping table of the first vehicle model and the second vehicle model; determine a second target position of a second signal value in the second bus message to be built according to the second signal name and the second bus matrix; wherein, the second signal value is determined based on the first signal value; the second bus matrix includes a correspondence between signal names of the second vehicle model and positions of signal values in the bus message; and build the second bus message according to the second signal value, the identifier of the second bus message to be built, and the second target position.

[0105] Optionally, the backfilling module is further configured to: before the building sub-module builds the second bus message, determine the second signal value according to the first signal value and a preset conversion relation formula; wherein, the preset conversion relation includes a conversion relation between the first signal value and the second signal value.

[0106] See Figure 4Optionally, the system also includes: a camera module 3, connected to the re-injection module 1, for collecting image data in real time; wherein the image data includes first image data and second image data taken at adjacent moments; the re-injection module 1 is also used to determine the frame rate of the image taken by the camera module according to the time difference between the first image data and the second image data taken by the camera module; obtain pre-stored image data; the image data is obtained by the vehicle of the first model through actual road measurement; and the pre-stored image data is sent to the re-injection module at the frame rate.

[0107] like Figure 4 In the illustrated embodiment, the camera module 3 sends the image data to the acquisition board on the industrial computer through the 935 chip on the adapter module. The re-injection module is connected to the acquisition board to obtain the first image data and the second image data, and then obtain the frame rate of the camera module 3. The re-injection module 1 sends the video data to the 954 chip on the adapter module through the acquisition board, and then sends it to the domain controller 2 through the interface B on the adapter module.

[0108] When the domain controller tests the vehicle driving assistance system, the generated data can be sent to the network card of the industrial computer through the network card on the adapter module, and the feedback module 1 receives and saves the data sent by its own network card.

[0109] Optionally, the re-feedback module is further used to: divide the pre-stored bus data and the pre-stored image data according to time periods to obtain different data groups; wherein each data group includes bus data and image data in the same time period; the data group includes a first data group; the first data group corresponds to a first time period; and the image data in the first data group is sent to the re-feedback module at the frame rate within the first time period; Optionally, the re-injection module is specifically used to: while sending the image data in the first data group to the vehicle driving assistance system of the second vehicle model, within the first time period, send the test data available for the vehicle driving assistance system of the second vehicle model corresponding to the bus data in the first data group to the vehicle driving assistance system.

[0110] Optionally, the recharge module is also used to: receive an operation trigger signal sent by the domain controller; the operation trigger signal is determined by the vehicle driving assistance system in the domain controller according to the first data group; and store the bus data and image data in the first data group according to the operation trigger signal.

[0111] like Figure 4In the illustrated embodiment, in the working condition measured on the road, the domain controller sends an operation trigger signal, which is sent to the Can card of the industrial computer through the vehicle body bus, and the recharging module stores it.

[0112] like Figure 4 In the embodiment shown, if the domain controller 2 obtains the processing result that braking is required based on the input data, on the actual vehicle, the vehicle's execution structure can be controlled based on the processing result to cause it to produce corresponding actions. In this embodiment, when the vehicle recharging system has not yet been installed on the actual vehicle, the driving assistance system is debugged or verified. If the domain controller 2 obtains the result based on the input data and finds an abnormality, it sends it to the recharging module 1 through the vehicle body bus, and the recharging module 1 can store the first set of data in order to analyze the result.

[0113] See also Figure 5 Optionally, the system further includes: a camera module 3 for collecting image data; a one-to-two chip 4 connected to the camera module 3, for copying the image data collected by the camera module 3 to obtain a first channel of image data and a second channel of image data, and sending the first channel of image data to a data acquisition device 5, and sending the second channel of image data to the domain controller 2; the data acquisition device 5 is connected to the one-to-two chip 4, for receiving the first channel of image data sent by the one-to-two chip 4, and storing the first channel of image data; the domain controller 2 is connected to the one-to-two chip 4, and is also used to receive the second channel of image data sent by the one-to-two chip 4, and the vehicle driving assistance system in the domain controller 2 determines whether to perform assisted driving on the vehicle of the second model according to the second channel of image data.

[0114] like Figure 5 In the embodiment shown, the image data collected by the camera module 3 is converted into the first channel image data and the second channel image data through the one-to-two chip 4 on the adapter module. The first channel image data is sent to the acquisition board on the industrial computer through the 953 chip on the adapter module, and then the data acquisition device 5 receives the first channel image data and saves it, which can be saved on the data acquisition device 3 body or in the server. The second channel image data is sent to the domain controller through the interface A on the adapter module.

[0115] like Figure 5 In the embodiment shown, the data acquisition device 5 can also collect data on the vehicle body and the radar bus through the Can card on the industrial computer; the data acquisition device 5 can also collect udp data generated by the domain controller through the network card on the adapter module and the network card on the industrial computer. The udp data is Debug data, which is debug data generated by the domain controller in the process of processing the collected data.

[0116] In this embodiment, the video mipi signal is split into two, the video acquisition link (storage) and the domain controller video link do not affect each other's functions, and the recording and preservation of the channel acquisition data (video, debug data, bus data) is realized.

[0117] In a specific example, if Figure 6 As shown, the verification method of the vehicle driving assistance system may include: 1. The data collection device stores data collected from vehicles of the first model.

[0118] The video, bus and other data collected from the actual road measurement of the vehicle of the first vehicle model are saved.

[0119] 2. Upload the data saved by the data acquisition device to the server.

[0120] 3. The feedback module obtains the bus data in the server and converts the data according to the mapping.

[0121] 4. The re-injection module synchronously re-injects the video and bus data to the domain controller.

[0122] 5. The recharging module obtains the test data generated by the controller and processes the results.

[0123] A specific application scenario of the vehicle recharging system of this embodiment: In the prior art, when the vehicle model is being tested with the ADAS function on the actual vehicle during the vehicle model acceptance phase, the adapter module (Debug board) and the domain controller are connected via a coaxial cable. Loose coaxial cable interfaces and acquisition cards in the entire link will cause link failures. This application can avoid ADAS function failures caused by acquisition link failures. ADAS failures are very dangerous when the vehicle is driving at high speeds. In the early stages of vehicle model development, data from a certain mileage will be collected on the road for re-injection during the release and verification phase of each software version. There are certain requirements for the mileage of re-injected data.

[0124] In this embodiment, if the data of different models are reused in the early stage of each model, the road mileage can be reduced. In the software verification and re-injection stage, the data of other models can be used for re-injection, which can also meet the mileage requirements. At the same time, some regulatory scenario data can also be reused in different models. Each model can reduce the regulatory testing link or even not perform regulatory scenario testing, and directly re-inject the regulatory scenario data of other models on the re-injection bench, reducing data collection and regulatory scenario testing, and greatly reducing the model cost.

[0125] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0126] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other, and the key point of each embodiment is to illustrate the differences from other embodiments.

[0127] As described above, the above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by this application should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A vehicle driving assistance system testing method, characterized in that: include: Obtaining pre-stored bus data; The bus data is collected by measuring the first vehicle model on the road; Converting the bus data to obtain test data available for a vehicle driving assistance system of a second vehicle model; The test data is sent to the vehicle driving assistance system of the second vehicle model to test the vehicle driving assistance system of the second vehicle model.

2. The testing method according to claim 1, characterized in that: The bus data includes a first bus message; The converting of the bus data to obtain test data available for the vehicle driving assistance system of the second vehicle model includes: According to a preset first rule, the first bus message is parsed to obtain a first signal value; A second bus message available to a vehicle driving assistance system of a second vehicle model is constructed according to a preset second rule and the first signal value.

3. The testing method according to claim 2, characterized in that: The step of parsing the first bus message according to a preset first rule to obtain a first signal value includes: Based on a preset mapping table of message information between the first vehicle type and the second vehicle type and a preset first bus matrix, the first bus message is parsed to obtain a first signal value; wherein the first bus matrix corresponds to the first vehicle type; The constructing, according to the preset second rule and the first signal value, a second bus message available to the vehicle driving assistance system of the second vehicle model includes: According to the preset message information mapping table of the first vehicle type and the second vehicle type, the first signal value and the preset second bus matrix, a second bus message available to the second vehicle type is constructed; wherein the second bus matrix corresponds to the second vehicle type.

4. The testing method according to claim 3, characterized in that: The step of parsing the first signal value in the first bus message based on the preset message information mapping table of the first vehicle type and the second vehicle type and the preset first bus matrix includes: Determine a first signal name corresponding to the first bus message according to the identifier of the first bus message and a preset message information mapping table of the first vehicle type and the second vehicle type; Determine a first target position of a first signal value to be found in the first bus message according to the first signal name and a preset first bus matrix; wherein the first bus matrix includes a correspondence between the signal name of the first vehicle type and the position of the signal value in the bus message; The first signal value is determined in the first bus message according to the first target position.

5. The testing method according to claim 3, characterized in that: The step of constructing a second bus message available to the second vehicle model according to the preset message information mapping table of the first vehicle model and the second vehicle model, the first signal value, and a preset second bus matrix includes: Determine, according to the identifier of the first bus message and the preset message information mapping table of the first vehicle type and the second vehicle type, the identifier of the second bus message to be constructed and the second signal name corresponding to the identifier; Determine a second target position of a second signal value in a second bus message to be constructed according to the second signal name and the second bus matrix; wherein the second signal value is determined based on the first signal value; and the second bus matrix includes a correspondence between the signal name of the second vehicle type and the position of the signal value in the bus message; A second bus message is constructed according to the second signal value, the identifier of the second bus message to be constructed, and the second target position.

6. The testing method according to claim 5, characterized in that: Before constructing the second bus message, the method further includes: The second signal value is determined according to the first signal value and a preset conversion relationship conversion formula; wherein the preset conversion relationship includes a conversion relationship between the first signal value and the second signal value.

7. The testing method according to claim 1, characterized in that: The method further comprises: The image data is collected in real time by a camera module; wherein the image data includes first image data and second image data taken at adjacent moments; the camera module is a device used on the vehicle of the second vehicle type; Determining a frame rate of the image captured by the camera module according to a time difference between when the camera module captures the first image data and the second image data; Acquire pre-stored image data; the image data is acquired by actually measuring and collecting the vehicle of the first vehicle type on the road; The pre-stored image data is sent to the vehicle driving assistance system at the frame rate.

8. The testing method according to claim 7, characterized in that: The method further comprises: Dividing the pre-stored bus data and the pre-stored image data according to time periods to obtain different data groups; wherein each data group includes the bus data and image data of the same time period; The data group includes a first data group; the first data group corresponds to a first time period; Wherein, sending the pre-stored image data to the vehicle driving assistance system at the frame rate includes: sending the image data in the first data group to the vehicle driving assistance system at the frame rate and within the first time period; The sending the test data to the vehicle driving assistance system of the second vehicle model includes: While the image data in the first data group is sent to the vehicle driving assistance system of the second vehicle model, test data available for the vehicle driving assistance system of the second vehicle model corresponding to the bus data in the first data group is sent to the vehicle driving assistance system within the first time period.

9. The method according to claim 8, characterized in that The method further comprises: receiving an operation trigger signal sent by the vehicle driving assistance system of the second vehicle model; the operation trigger signal is determined by the vehicle driving assistance system of the second vehicle model according to the first data group; The bus data and the image data in the first data group are stored according to the operation trigger signal.

10. The method according to claim 1, characterized in that The method further comprises: Collecting image data; Copying the image data to obtain a first channel of image data and a second channel of image data; The first image data is stored, and the second image data is sent to a vehicle driving assistance system of the second vehicle model, so that the vehicle driving assistance system of the second vehicle model determines whether to perform assisted driving on the vehicle of the second vehicle model based on the second image data.

11. A vehicle recharging system, characterized in that: include: A recharging module, used to obtain pre-stored bus data; The bus data is collected by measuring the first vehicle model on the road; Converting the bus data to obtain test data available to a vehicle driving assistance system of a second vehicle model; and sending the test data to a domain controller in a vehicle of the second vehicle model; The domain controller is connected to the re-injection module, and is used to receive the test data sent by the re-injection module, and test the vehicle driving assistance system in the domain controller according to the test data.

12. The system according to claim 11, characterized in that Also includes: A camera module, used for collecting image data; A one-to-two chip connected to the camera module, used for copying the image data collected by the camera module to obtain a first channel of image data and a second channel of image data, and sending the first channel of image data to a data acquisition device, and sending the second channel of image data to the domain controller; The data acquisition device is connected to the one-to-two chip, and is used to receive the first channel of image data sent by the one-to-two chip, and store the first channel of image data; The domain controller is connected to the one-to-two chip, and is also used to receive the second-channel image data sent by the one-to-two chip. The vehicle driving assistance system in the domain controller determines whether to perform assisted driving on the vehicle of the second model based on the second-channel image data.

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