Real-time test and evaluation system for self-cruise function

Abstract

The invention provides a real-time test and evaluation system for a self-cruising function. The real-time test and evaluation system for the self-cruising function comprises a real-time simulation test system and an evaluation system, the evaluation system comprises a data acquisition module, an evaluation sub-module, a use case generalization sub-module and an evaluation report generation module. The real-time simulation test system is used for performing a virtual scene simulation test on the self-cruising function of the tested vehicle based on a preset test case to obtain real-time simulation test data and sending the real-time simulation test data to the evaluation system; the evaluation system evaluates real-time simulation test data through a data acquisition module, an evaluation sub-module and a use case generalization sub-module, generalizes and retests use cases of problem points, and generates a final self-cruise function evaluation report. And multi-dimensional all-directional evaluation of the ACC self-cruising function under the conditions of complex scenes and multiple working conditions is met.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and particularly to a real-time test and evaluation system for a self-cruise function. Background Art

[0002] In recent years, with the rapid development of automotive intelligence and electrification, various vehicle models equipped with auxiliary driving systems that can improve driving comfort and safety have become increasingly popular, including the ACC (Adaptive Cruise Control) system. The ACC system uses cameras and millimeter-wave radars installed on the vehicle to collect the vehicle's front environment and road data, and then performs longitudinal (acceleration and deceleration) control to relieve the fatigue of drivers during long-term driving. With the continuous introduction of relevant domestic and international standards, relevant departments have paid increasing attention to its safety. The construction of the test ability for the ACC system is urgent.

[0003] The existing test technical solutions for the ACC function are either simulation tests, but the evaluation methods are simple. For example, only simple filtering is performed on simulation test data or bench test data. During the full-function test of the ACC, the efficiency is relatively low, and it is impossible to quickly test to find problem points, unable to keep up with the iteration speed of current software development; or it is the evaluation after real vehicle testing. Since a large number of test personnel and equipment are required in real vehicle testing, the test cycle is long, the efficiency is low, and the manual test cost is high, making it difficult to meet the R & D requirements. Summary of the Invention

[0004] The purpose of this application is to provide a real-time test and evaluation system for a self-cruise function, which adopts a real-time simulation test system, does not rely on real vehicle testing, and adds a use case generalization sub-module to the evaluation system to automatically strengthen test cases for problem points, improve test efficiency, increase test coverage, give play to the test advantages of automated data analysis and use case automatic generalization, and meet the multi-dimensional and all-round evaluation of the ACC under complex scenarios and multi-working conditions.

[0005] In the first aspect, the present application provides a real-time test and evaluation system for an autonomous cruise function, the real-time test and evaluation system for an autonomous cruise function comprising: a real-time simulation test system and an evaluation system; the evaluation system comprising: a data acquisition module, an evaluation submodule, a use case generalization submodule and an evaluation report generation module; the real-time simulation test system is used to perform a virtual scene simulation test on the autonomous cruise function of a tested vehicle based on a preset test case, obtain real-time simulation test data, and send the real-time simulation test data to the evaluation system; the data acquisition module is used to receive the real-time simulation test data and perform preprocessing, and send the preprocessed test data to the evaluation submodule; the evaluation submodule is used to generate an evaluation report based on a preset evaluation index. The preprocessed data is evaluated by a standard, and the failed test items of the tested vehicle are determined, and the failed test items are sent to the use case generalization submodule; the use case generalization submodule is used to perform generalized use case processing on the failed test items based on the built-in generalization logic, and obtain generalized new test cases, and the new test cases are sent to the real-time simulation test system through the evaluation submodule, so that the real-time simulation test system retests the tested vehicle based on the new test cases; the evaluation submodule is used to perform a final evaluation after obtaining the test results after the retest, and send the evaluation results to the evaluation report generation module; the evaluation report generation module is used to generate an evaluation report on the self-cruise function corresponding to the tested vehicle according to the evaluation results.

[0006] Furthermore, the generalized items of the above-mentioned ACC cruise function include: weather conditions, lighting conditions, road conditions, front vehicle overlap rate, and front vehicle lateral speed cut-in conditions; weather conditions include: cloudy, sunny or rainy days; road conditions include: horizontal sections, uphill sections or downhill sections; front vehicle overlap rate includes: 25% overlap, 50% overlap, 75% overlap or 100% overlap.

[0007] Furthermore, the generalization logic includes: generating multiple new test cases by arranging and combining different situations of multiple generalization items corresponding to the failed test items.

[0008] Furthermore, the above real-time simulation test system includes: a virtual scenario simulation module, a sensor module, an ACC system module, a vehicle dynamics module, and a vehicle lateral control module; the virtual scenario simulation module is used to create virtual scenario information in real time according to the test cases corresponding to the evaluation indicators provided by the evaluation sub-module, and send the virtual scenario information to the sensor module and the vehicle lateral control module; the sensor module is used to generate a target signal according to the virtual scenario information and transmit it to the ACC system module; the ACC system module is used to generate a longitudinal control signal according to the target signal and send the longitudinal control signal to the vehicle dynamics module; the vehicle lateral control module is used to generate a lateral control signal according to the virtual scenario information and send the lateral control signal to the vehicle dynamics module; the vehicle dynamics module is used to control the vehicle under test to drive in the virtual simulation scenario according to the longitudinal control signal and the lateral control signal, and feedback the vehicle-related information to the vehicle lateral control module and the ACC system module to complete the closed-loop control of the ego vehicle in the virtual simulation scenario; the virtual scenario simulation module, the sensor module, the ACC system module, the vehicle dynamics module, and the vehicle lateral control module are also used to send the real-time collected information to the evaluation system as real-time simulation test data during the test process.

[0009] Furthermore, the above target signal includes: a CAN data bus signal and a video signal; the sensor module includes: a millimeter-wave radar model and a camera model; the millimeter-wave radar model is used to generate a CAN data bus signal carrying obstacle information according to the virtual scenario information provided by the virtual scenario simulation module; the camera model is used to generate a video signal according to the virtual scenario information provided by the virtual scenario simulation module; wherein, the virtual scenario information includes: information of the vehicle ahead, road information, lighting information, and lane line information.

[0010] Furthermore, the above longitudinal control signal includes: throttle pedal opening, longitudinal deceleration, or motor torque; the lateral control signal includes: steering wheel angle and steering wheel rotation speed.

[0011] Furthermore, the above vehicle-related information includes: vehicle speed, yaw rate, and lateral acceleration.

[0012] Furthermore, the above evaluation sub-module is also used to evaluate the unpassed test items of the vehicle under test multiple times according to the preset number of retest times; if all the evaluation results under the preset number of retest times are unpassed, it is determined that the test item is unpassed.

[0013] Furthermore, the above preprocessing includes: filtering processing of clutter data.

[0014] Further, the above evaluation report generation module includes: a picture generation module and a table generation module, for the user to write an evaluation report based on the picture evaluation result generated by the picture module and the table evaluation result generated by the table generation module.

[0015] The real-time test and evaluation system for the self-cruise function provided by this application, the real-time test and evaluation system for the self-cruise function includes: a real-time simulation test system and an evaluation system; the evaluation system includes: a data acquisition module, an evaluation sub-module, a use case generalization sub-module, and an evaluation report generation module; the real-time simulation test system is used to perform virtual scenario simulation tests on the self-cruise function of the vehicle under test based on preset test cases, obtain real-time simulation test data, and send the real-time simulation test data to the evaluation system; the evaluation system evaluates the real-time simulation test data through the data acquisition module, the evaluation sub-module, and the use case generalization sub-module, generalizes and retests the use cases of the problem points, and generates a final self-cruise function evaluation report. In this application, a real-time simulation test system is adopted, which does not rely on real vehicle tests, and a use case generalization sub-module is added to the evaluation system to automatically strengthen test cases for problem points, improve test efficiency, increase test coverage, give play to the test advantages of automatic data analysis and automatic use case generalization, and meet the multi-dimensional and all-round evaluation of ACC under complex scenarios and multi-working conditions. Description of the Drawings

[0016] In order to more clearly illustrate the specific implementation manners of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific implementation manners or the prior art. Obviously, the drawings in the following description are some implementation manners of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a structural block diagram of a real-time test and evaluation system for a self-cruise function provided by an embodiment of the present application;

[0018] Figure 2 It is a flowchart of the evaluation process of an evaluation system provided by an embodiment of the present application;

[0019] Figure 3 It is a structural block diagram of a real-time simulation test system provided by an embodiment of the present application. Specific Embodiments

[0020] The following will clearly and completely describe the technical solutions of the present application in conjunction with the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0021] In the existing test technical solutions for the ACC function, one is to use simulation or bench testing to improve test efficiency, but only simply filter the simulation test data or bench test data. It does not consider the test pressure and efficiency problems brought by hundreds of thousands of test cases during the full-function test of ACC, and cannot achieve rapid testing to find problem points, unable to keep up with the iteration speed of current software development. At the same time, for multi-round testing with manual iteration, the regression test cases are updated slowly and inefficiently, and cannot meet the multi-dimensional and all-round evaluation of ACC under complex scenarios and multi-condition conditions. The other is to conduct evaluation after real vehicle testing, including comparison of empirical data or only evaluation of items related to regulations; since a large number of test personnel and equipment are required in real vehicle testing, the test cycle is long, the efficiency is low, and the manual test cost is high, making it difficult to meet the R & D requirements.

[0022] Based on this, the embodiment of the present application provides a real-time test and evaluation system for the adaptive cruise control (ACC) function. By using a real-time simulation test system, it does not rely on real vehicle testing, and a test case generalization sub-module is added to the evaluation system to automatically strengthen test cases for problem points, improve test efficiency, increase test coverage, give play to the test advantages of automatic data analysis and test case automatic generalization, and meet the multi-dimensional and all-round evaluation of ACC under complex scenarios and multi-condition conditions.

[0023] Figure 1 FIG. 9 is a schematic structural diagram of a real-time test and evaluation system for the adaptive cruise control (ACC) function provided by the embodiment of the present application. The real-time test and evaluation system for the adaptive cruise control (ACC) function includes: a real-time simulation test system 11 and an evaluation system 12; the evaluation system 12 includes: a data acquisition module 121, an evaluation sub-module 122, a test case generalization sub-module 123, and an evaluation report generation module 124.

[0024] Among them, the real-time simulation test system 11 is used to perform virtual scenario simulation testing on the adaptive cruise control (ACC) function of the vehicle to be tested based on preset test cases, obtain real-time simulation test data, and send the real-time simulation test data to the evaluation system 12;

[0025] The data acquisition module 121 is used to receive the real-time simulation test data and perform preprocessing, and send the preprocessed test data to the evaluation sub-module 122;

[0026] The evaluation sub-module 122 is used to evaluate the preprocessed data based on preset evaluation indicators, determine the unpassed test items of the vehicle to be tested, and send the unpassed test items to the test case generalization sub-module;

[0027] The use case generalization sub-module 123 is used to perform generalization use case processing on the unpassed test items based on the built-in generalization logic, obtain the newly generalized test cases, and send the new test cases to the real-time simulation test system through the evaluation sub-module, so that the real-time simulation test system re-tests the vehicle under test based on the new test cases;

[0028] The evaluation sub-module 122 is used to perform a final evaluation after obtaining the re-tested test results and send the evaluation results to the evaluation report generation module;

[0029] The evaluation report generation module 124 is used to generate an evaluation report for the adaptive cruise control function of the vehicle under test according to the evaluation results.

[0030] A real-time test and evaluation system for an adaptive cruise control function provided by an embodiment of the present application uses a real-time simulation test system, does not rely on real vehicle testing, and adds a use case generalization sub-module to the evaluation system to automatically strengthen test cases for problem points, improve test efficiency, increase test coverage, give play to the test advantages of automatic data analysis and use case automatic generalization, and meet the multi-dimensional and all-round evaluation of ACC under complex scenarios and multi-condition conditions.

[0031] Taking ACC following cruise as an example, ACC (Adaptive Cruise Control) following cruise is an assisted driving solution that keeps a certain distance from the vehicle in front on the road by controlling the vehicle deceleration, engine or motor torque. Generally, the testing and evaluation of the ACC system may include the following steps:

[0032] 1. The tester pre-stores a test case table containing information such as the speed, acceleration, distance to the vehicle in front, and initial speed of the vehicle in front in the evaluation sub-module. When starting the test, the evaluation sub-module sends the test cases to the real-time simulation test system; in actual testing, the test case table can contain at least 10,000 relevant test cases;

[0033] 2. The real-time simulation test system executes the above test cases and transmits the information for test evaluation (a file containing parameters such as vehicle speed, vehicle distance, and vehicle acceleration) to the above ACC system evaluation system in real time;

[0034] 3. After the evaluation system obtains the data, it refers to the Figure 2 flowchart shown below for evaluation:

[0035] The user selects one or more evaluation indicators from the evaluation indicators pre-set and stored in the data acquisition module, such as international standards, national standards, enterprise standards, etc.

[0036] S202, the data acquisition module in the evaluation system, receives real-time simulation test data and performs preprocessing, and sends the preprocessed test data to the evaluation sub-module.

[0037] The above preprocessing includes: filtering clutter data.

[0038] S204, the evaluation sub-module evaluates the preprocessed data based on preset evaluation indicators, determines the unpassed test items of the vehicle under test, and sends the unpassed test items to the use case generalization sub-module.

[0039] Specifically in implementation, the data after filtering clutter includes following distance, following speed, etc. Evaluation is performed based on these data and evaluation indicator items, and the unpassed test items are temporarily stored in the evaluation sub-module.

[0040] The above evaluation sub-module is also used to evaluate the unpassed test items of the vehicle under test multiple times according to the preset retest times; if all evaluation results under the preset retest times are unpassed, it is determined that this test item is unpassed. For example, after a round of testing, the evaluation sub-module can also send the unpassed test items to the real-time simulation test system for a new round of testing. The user can input the retest times by themselves. If it is set to three times, then if all three times are unpassed, it is determined that the test item fails.

[0041] S206, the use case generalization sub-module performs generalization use case processing on the unpassed test items based on the built-in generalization logic, obtains the generalized new test cases, and sends the new test cases to the real-time simulation test system through the evaluation sub-module, so that the real-time simulation test system retests the vehicle under test based on the new test cases.

[0042] The generalization items of the above ACC cruise function include: weather condition, lighting condition, road condition, leading vehicle overlap rate condition, leading vehicle lateral speed cut-in condition; the weather condition includes: cloudy, sunny or rainy; the road condition includes: horizontal section, uphill section or downhill section; the leading vehicle overlap rate condition includes: 25% overlap, 50% overlap, 75% overlap or 100% overlap. The above generalization logic includes: generating multiple new test cases by arranging and combining different situations of multiple generalization items corresponding to the unpassed test items.

[0043] In specific implementation, for the ACC following function, its generalization items include weather (cloudy, sunny, rainy), lighting (different illuminance conditions), road (flat section, uphill section, downhill section), different overlap rates of the leading vehicle (25% overlap, 50% overlap, 75% overlap, 100% overlap), working conditions such as the leading vehicle cutting in with different lateral speeds, etc.; if a certain test case fails, the system automatically combines and arranges this test case through generalization items such as weather conditions (cloudy, sunny or rainy), road conditions (flat section, uphill section or downhill section), overlap rate conditions (25% overlap, 50% overlap, 75% overlap or 100% overlap), etc. to generate test cases under different working conditions. Taking the above 3 working conditions as an example, 3*3*4, 36 test cases are generated for testing. The generalized test cases are stored in the test case generalization sub-module and are preferentially tested at the beginning of a new round of ACC function.

[0044] S208, after the evaluation sub-module obtains the retested test results, it conducts a final evaluation and sends the evaluation results to the evaluation report generation module;

[0045] S210, the evaluation report generation module generates an adaptive cruise control function evaluation report corresponding to the tested vehicle according to the evaluation results.

[0046] The above evaluation report generation module includes: a picture generation module and a table generation module, for the user to write an evaluation report based on the picture evaluation results generated by the picture module and the table evaluation results generated by the table generation module.

[0047] The following elaborates in detail the process of the real-time simulation test system in the embodiments of the present application to perform virtual scenario simulation tests on the adaptive cruise control function of the tested vehicle based on preset test cases and obtain real-time simulation test data.

[0048] See Figure 3 As shown, the above real-time simulation test system 11 includes: a virtual scenario simulation module 111, a sensor module 112, an ACC system module 113, a vehicle dynamics module 114, and a vehicle lateral control module 115.

[0049] Among them, the virtual scenario simulation module 111 is used to create virtual scenario information in real time according to the test cases corresponding to the evaluation indicators provided by the evaluation sub-module, and send the virtual scenario information to the sensor module and the vehicle lateral control module; the virtual scenario simulation module 111 arranges the simulation scenario by reading information such as the position, speed, acceleration of the leading vehicle, road slope, weather conditions, the position, speed, acceleration of the vehicle itself, etc. in the test cases for testing.

[0050] During the ACC following cruise test, the virtual scenario simulation module provides the information of the vehicle ahead and road information required by the ACC system, such as lane width, lane type, etc., and transmits the relevant information to the sensor module 112 and the vehicle lateral control module 114;

[0051] The sensor module 112 is used to generate a target signal according to the virtual scenario information and transmit it to the ACC system module; the above target signal includes: CAN data bus signal and video signal; the sensor module 112 includes: millimeter-wave radar model and camera model; the millimeter-wave radar model is used to generate a CAN data bus signal carrying obstacle information according to the virtual scenario information provided by the virtual scenario simulation module; the data carried in the CAN data bus signal includes: information of obstacles ahead: cars, trucks, pedestrians, motorcycles, etc., and also includes information such as obstacle distance, speed, acceleration, etc. The camera model is used to generate a video signal according to the virtual scenario information provided by the virtual scenario simulation module; among them, the virtual scenario information includes: information of the vehicle ahead, road information, lighting information, and lane line information.

[0052] The ACC system module 113 is used to generate a longitudinal control signal according to the target signal and send the longitudinal control signal to the vehicle dynamics module; the above longitudinal control signal includes: throttle pedal opening, longitudinal deceleration, or motor torque, etc.;

[0053] The vehicle lateral control module 114 is used to generate a lateral control signal according to the virtual scenario information and send the lateral control signal to the vehicle dynamics module; the above lateral control signal includes: steering wheel angle, steering wheel rotation speed, etc.

[0054] The vehicle dynamics module 115 is used to control the vehicle under test to drive in the virtual simulation scenario according to the longitudinal control signal and the lateral control signal, and feedback the vehicle-related information to the vehicle lateral control module and the ACC system module to complete the closed-loop control of the vehicle itself in the virtual simulation scenario;

[0055] The above vehicle-related information includes: vehicle speed, yaw rate, lateral acceleration, etc.

[0056] The virtual scenario simulation module, the sensor module, the ACC system module, the vehicle dynamics module, and the vehicle lateral control module are also used to send the real-time collected information as real-time simulation test data to the evaluation system during the test.

[0057] In the embodiment of the present application, the real-time simulation test data is sent in real time by each module of the real-time simulation test system through the bus, and the data acquisition module of the evaluation system selects the required evaluation indexes in the bus for evaluation.

[0058] Specifically, the virtual scene simulation module mainly provides a test scene and sends the position and speed information of the front obstacle to the bus; the sensor module collects the information such as the position and speed of the front obstacle sent by the scene simulation module to the bus and packs and sends it to the ACC system module; the ACC system module analyzes the information transmitted by the sensor module and sends out information such as vehicle deceleration, engine or motor torque; the vehicle lateral control module is responsible for analyzing information such as lane lines provided by the virtual scene simulation module and transmitting the steering wheel angle and rotation speed information to the bus for use by the vehicle dynamics module; the vehicle dynamics module controls the position of the vehicle in the virtual simulation scene through the lateral and longitudinal control information input by the above vehicle lateral control module and ACC system module, and feeds back information such as vehicle speed, yaw rate, and lateral acceleration to the vehicle lateral control module and ACC system module; the final simulation test data includes: the acceleration and deceleration of the vehicle itself, the vehicle speed of the vehicle itself, the distance to the vehicle in front, etc.

[0059] A real-time test and evaluation system for a self-cruise function provided by an embodiment of the present application can solve the problems existing in some simulation tests, such as only simply filtering simulation test data or bench test data, not considering the test pressure and efficiency problems brought by hundreds of thousands to millions of use cases for the full-function test of ACC, being unable to achieve rapid testing to find problem points, and not keeping up with the iteration speed of current software development. At the same time, in multi-round tests with manual iteration, the regression test cases are updated slowly and inefficiently, and cannot meet the multi-dimensional and all-round evaluation of ACC under complex scenarios and multi-condition conditions. At the same time, it solves the problems such as the need to invest a large number of test personnel and equipment, long test cycle, low efficiency, and high manual test cost brought by real vehicle tests in the prior art. In the embodiment of the present application, a real-time simulation test system is adopted, which does not rely on real vehicle tests, and a retest module (including a use case generalization sub-module for automatically strengthening test cases for problem points) is added to the test evaluation system to improve test efficiency, increase test coverage, and give play to the test advantages of automatic data analysis and use case automatic generalization.

[0060] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the methods of each module in the above evaluation system. For specific implementation, reference can be made to the foregoing method embodiments, which will not be elaborated here.

[0061] The computer program product of the method, device, and electronic device provided by an embodiment of the present application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the foregoing method embodiments. For specific implementation, reference can be made to the method embodiments, which will not be elaborated here.

[0062] Unless otherwise specifically stated, the relative steps, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0063] If the described functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0064] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application. In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0065] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present application, used to illustrate the technical solutions of the present application, rather than limiting them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed in the present application can still modify the technical solutions described in the foregoing embodiments or easily conceive of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application and should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A real-time test and evaluation system for the self-cruising function, characterized in that, The real-time test and evaluation system of the self-cruise function includes: a real-time simulation test system and an evaluation system; the evaluation system includes: a data acquisition module, an evaluation submodule, a use case generalization submodule and an evaluation report generation module; The real-time simulation test system is used to perform a virtual scene simulation test on the self-cruise function of the tested vehicle based on a preset test case, obtain real-time simulation test data, and send the real-time simulation test data to the evaluation system; The data acquisition module is used to receive and preprocess the real-time simulation test data, and send the preprocessed test data to the evaluation submodule; The evaluation submodule is used to evaluate the preprocessed data based on a preset evaluation index, determine the failed test items of the tested vehicle, and send the failed test items to the use case generalization submodule; The use case generalization submodule is used to perform generalized use case processing on the failed test items based on the built-in generalization logic to obtain a generalized new test case, and send the new test case to the real-time simulation test system through the evaluation submodule, so that the real-time simulation test system retests the tested vehicle based on the new test case; The evaluation submodule is used to perform a final evaluation after obtaining the test results after the retest, and send the evaluation results to the evaluation report generation module; The evaluation report generating module is used to generate an evaluation report of the self-cruise function corresponding to the tested vehicle according to the evaluation result.

2. The real-time test and evaluation system for the self-cruising function according to claim 1, characterized in that, The generalized items of the self-cruise function include: weather conditions, lighting conditions, road conditions, front vehicle overlap rate, and front vehicle lateral speed cut-in conditions; the weather conditions include: cloudy, sunny or rainy; the road conditions include: horizontal sections, uphill sections or downhill sections; the front vehicle overlap rate includes: 25% overlap, 50% overlap, 75% overlap or 100% overlap.

3. The real-time test and evaluation system for the self-cruising function according to claim 2, characterized in that, The generalization logic includes: generating multiple new test cases by arranging and combining different situations of multiple generalization items corresponding to the failed test items.

4. The real-time test and evaluation system for the self-cruising function according to claim 1, characterized in that The real-time simulation test system includes: a virtual scene simulation module, a sensor module, an ACC system module, a vehicle dynamics module, and a vehicle lateral control module; The virtual scene simulation module is used to create virtual scene information in real time according to the test cases corresponding to the evaluation indicators provided by the evaluation submodule, and send the virtual scene information to the sensor module and the vehicle lateral control module; The sensor module is used to generate a target signal according to the virtual scene information and transmit it to the ACC system module; The ACC system module is used to generate a longitudinal control signal according to the target signal, and send the longitudinal control signal to the vehicle dynamics module; The vehicle lateral control module is used to generate a lateral control signal according to the virtual scene information, and send the lateral control signal to the vehicle dynamics module; The vehicle dynamics module is used to control the vehicle under test to drive in the virtual simulation scenario according to the longitudinal control signal and the lateral control signal, and feedback vehicle-related information to the vehicle lateral control module and the ACC system module to complete the closed-loop control of the host vehicle in the virtual simulation scenario; The virtual scenario simulation module, the sensor module, the ACC system module, the vehicle dynamics module, and the vehicle lateral control module are also used to send the real-time collected information as real-time simulation test data to the evaluation system during the test.

5. The real-time test and evaluation system for the self-cruising function according to claim 4, wherein The target signals include: CAN data bus signals and video signals; the sensor module includes: millimeter-wave radar models and camera models; The millimeter-wave radar model is used to generate CAN data bus signals carrying obstacle information according to the virtual scenario information provided by the virtual scenario simulation module; The camera model is used to generate video signals according to the virtual scenario information provided by the virtual scenario simulation module; Among them, the virtual scenario information includes: information of the vehicle ahead, road information, lighting information, and lane line information.

6. The real-time test and evaluation system for the self-cruise function according to claim 4, characterized in that The longitudinal control signals include: throttle pedal opening, longitudinal deceleration, or motor torque; the lateral control signals include: steering wheel angle and steering wheel rotation speed.

7. The real-time test and evaluation system for the self-cruising function according to claim 4, characterized in that, The vehicle-related information includes: vehicle speed, yaw rate, and lateral acceleration.

8. The real-time test and evaluation system for the self-cruise function according to claim 1, characterized in that The evaluation sub-module is also used to evaluate the unpassed test items of the vehicle under test multiple times according to the preset number of retest times; if all the evaluation results under the preset number of retest times are unpassed, it is determined that the test item is unpassed.

9. The real-time test and evaluation system for the self-cruising function according to claim 1, characterized in that, The preprocessing includes: filtering processing of clutter data.

10. The real-time test and evaluation system for the self-cruising function according to claim 1, characterized in that The evaluation report generation module includes: a picture generation module and a table generation module for the user to write an evaluation report based on the picture evaluation result generated by the picture module and the table evaluation result generated by the table generation module.

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