Real vehicle in-the-loop test method and device, terminal equipment and storage medium

Abstract

The invention is suitable for the technical field of vehicle testing, and provides a real vehicle in-the-loop testing method and device, terminal equipment and a storage medium, the method is applied to a simulation system, and the simulation system firstly obtains real-time track data of a to-be-tested vehicle; according to the real-time trajectory data of the to-be-tested vehicle and preset test scene configuration information, target trajectory information of a self-moving device is generated, the self-moving device carries a traffic participant model, and the target trajectory information is used for indicating the self-moving device to move to a target test position; and finally, after the to-be-tested vehicle and the self-moving device move to the target test position at the same time, generating an in-loop test result. Therefore, the self-moving device is scheduled based on the trajectory data, trajectory planning of the entity traffic participant model is achieved, finally, the to-be-tested vehicle and the self-moving device are both located at the target test position at the same moment, and then the simulation system can accurately simulate a complex test scene.

Description

Technical Field

[0001] This application belongs to the technical field of vehicle testing, and particularly relates to a real vehicle in the loop testing method, device, terminal device, and storage medium. Background Art

[0002] The real vehicle in the loop testing of autonomous driving is an important link in the research and development process of autonomous driving technology. It installs an autonomous driving system on an actual vehicle and then conducts tests in a closed test environment or on public roads to verify and evaluate the performance and functions of the autonomous driving system, such as verifying the perception ability, decision-making and planning ability, control ability of the autonomous driving system, and its performance in various abnormal situations, etc.

[0003] In related technologies, the real vehicle in the loop testing of autonomous driving usually uses simulation software to generate virtual traffic participants according to the real-time position of the autonomous driving vehicle. The virtual traffic participants will send their own position information to the autonomous driving vehicle in real time, and the autonomous driving vehicle will then react according to the real-time position information of the virtual traffic participants to complete the test.

[0004] However, due to the complexity of the real world, the virtual traffic participants cannot completely and accurately simulate the real situation, and thus cannot accurately achieve the set test scenarios. Summary of the Invention

[0005] The embodiments of this application provide a real vehicle in the loop testing method, device, terminal device, and storage medium, which can solve the problem that the virtual traffic participants in the real vehicle in the loop testing of autonomous driving cannot completely and accurately simulate the real situation and cannot accurately achieve the set test scenarios.

[0006] The first aspect of the embodiments of this application provides a real vehicle in the loop testing method, which is applied to a simulation system. The real vehicle in the loop testing method includes: obtaining the real-time trajectory data of the vehicle to be tested;

[0007] Generating the target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information, where the self-moving device is equipped with a traffic participant model, and the target trajectory information is used to indicate the self-moving device to move to the target test position;

[0008] After the vehicle to be tested and the self-moving device move to the target test position simultaneously, generating the in-the-loop test result.

[0009] Optionally, in a possible implementation manner of the first aspect, the above preset test scenario configuration information includes a test trigger condition, and the generating the target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information includes:

[0010] When the real-time trajectory data of the vehicle to be tested triggers the test trigger condition, according to the preset test scenario configuration information, generate the target trajectory information of the self-moving device;

[0011] Send the target trajectory information to the self-moving device, so that the self-moving device moves to the target test position according to the target trajectory information.

[0012] Optionally, in another possible implementation manner of the first aspect, there are multiple self-moving devices as described above. When the real-time trajectory data of the vehicle to be tested triggers the test trigger condition, according to the preset test scenario configuration information, generating the target trajectory information of the self-moving device includes:

[0013] Generate the target trajectory information of each self-moving device according to the preset test scenario configuration information;

[0014] Sending the target trajectory information to the self-moving device so that the self-moving device moves to the target test position according to the target trajectory information includes:

[0015] Send each target trajectory information to the corresponding self-moving device respectively, so that each self-moving device moves to the target test position according to the corresponding target trajectory information.

[0016] Optionally, in another possible implementation manner of the first aspect, the vehicle to be tested moves to the target test position according to the preset test scenario configuration information.

[0017] Optionally, in another possible implementation manner of the first aspect, after the vehicle to be tested and the self-moving device move to the target test position simultaneously, generating the in-loop test result includes:

[0018] After the vehicle to be tested and the self-moving device move to the target test position simultaneously, obtain the response measures of the vehicle to be tested to the traffic participant model;

[0019] Generate the in-loop test result according to the response measures.

[0020] Optionally, in another possible implementation manner of the first aspect, before obtaining the real-time trajectory data of the vehicle to be tested, the self-moving device moves to the initial position according to the preset test scenario configuration information, and the target trajectory information is used to indicate the self-moving device to move from the initial position to the target test position.

[0021] Optionally, in another possible implementation manner of the first aspect, before obtaining the real-time trajectory data of the vehicle to be tested, the real vehicle in-loop test method further includes:

[0022] Perform time synchronization and space synchronization on the simulation system, the vehicle to be tested, and the self-moving device.

[0023] Optionally, in another possible implementation of the first aspect, the self-moving device is a drone, and the drone hoists a traffic participant model.

[0024] Optionally, in another possible implementation of the first aspect, the real-time trajectory data of the vehicle to be tested includes real-time position information and real-time status information, where the real-time position information includes longitude, latitude, and heading angle, and the real-time status information includes speed, acceleration, braking information, and steering information.

[0025] Optionally, in yet another possible implementation of the first aspect, the target trajectory information includes the target position information and target status information of the self-moving device at each moment within a target time period.

[0026] A second aspect of the embodiments of the present application provides a real vehicle in the loop test device, which is applied to a simulation system. The real vehicle in the loop test device includes:

[0027] A data acquisition module, configured to acquire the real-time trajectory data of the vehicle to be tested;

[0028] A trajectory generation module, configured to generate target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and preset test scenario configuration information, where the self-moving device carries a traffic participant model, and the target trajectory information is used to instruct the self-moving device to move to a target test position;

[0029] A test processing module, configured to generate an in-the-loop test result after the vehicle to be tested and the self-moving device simultaneously move to the target test position.

[0030] A third aspect of the embodiments of the present application provides a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the real vehicle in the loop test method of the first aspect is implemented.

[0031] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the real vehicle in the loop test method of the first aspect is implemented.

[0032] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device is enabled to execute the real vehicle in the loop test method of the first aspect.

[0033] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: The embodiments of the present application disclose a method, device, terminal device, and storage medium for in-vehicle-in-the-loop testing. Among them, the method is applied to a simulation system. The simulation system first obtains the real-time trajectory data of the vehicle to be tested; then, based on the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information, it generates the target trajectory information of the self-moving device. The self-moving device is equipped with a traffic participant model, and the target trajectory information is used to instruct the self-moving device to move to the target test position; finally, after the vehicle to be tested and the self-moving device both move to the target test position, it generates the in-the-loop test result. Thus, the self-moving device is scheduled based on the trajectory data to achieve the trajectory planning of the physical traffic participant model. Finally, the vehicle to be tested and the self-moving device are both at the target test position at the same moment, and then the simulation system can accurately simulate complex test scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments 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.

[0035] Figure 1 is a flowchart of a method for in-vehicle-in-the-loop testing provided by an embodiment of the present application;

[0036] Figure 2 is an example diagram of a method for in-vehicle-in-the-loop testing provided by an embodiment of the present application;

[0037] Figure 3 is a structural diagram of a device for in-vehicle-in-the-loop testing provided by an embodiment of the present application;

[0038] Figure 4 is a structural diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In the following description, specific details such as specific system structures and technologies are proposed for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, the detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0040] It should be understood that, as used in the specification of this application and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their combinations.

[0041] It should also be understood that the term "and / or" as used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0042] As used in the specification of this application and the appended claims, the term "if" may be construed, depending on the context, as "when", "once", "in response to determining", or "in response to detecting". Similarly, the phrases "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]".

[0043] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are used only for descriptive distinction and should not be construed as indicating or implying relative importance.

[0044] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0045] It should be understood that the magnitudes of the sequence numbers of the steps in this embodiment do not mean the order of execution is prior or subsequent. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0046] In related technologies, in a real vehicle-in-the-loop test for autonomous driving, simulation software is usually used to generate virtual traffic participants based on the real-time position of the autonomous vehicle. The virtual traffic participants will send their own position information to the autonomous vehicle in real time, and the autonomous vehicle will then react according to the real-time position information of the virtual traffic participants to complete the test. However, due to the complexity of the real world, the virtual traffic participants cannot fully and accurately simulate the real situation, and thus cannot accurately achieve the set test scenarios.

[0047] In view of this, the embodiments of the present application provide a real vehicle-in-the-loop test method, device, terminal device, and storage medium, which schedule a self-moving device based on trajectory data, realize the trajectory planning of an entity traffic participant model, and finally the vehicle to be tested and the self-moving device are both at the target test position at the same moment, so that the simulation system can accurately simulate complex test scenarios.

[0048] The following is an example of the application scenario of the real vehicle-in-the-loop test method provided by the embodiments of the present application:

[0049] Suppose it is necessary to test a vehicle for the scenario where a pedestrian suddenly runs into the road. The traditional solution is to inject relevant information about a pedestrian breaking into the front through surrounding virtual simulation (including simulation of the surrounding environment, sensors, and vehicle dynamics, etc.) into the control unit on the vehicle, but in fact, the pedestrian who accidentally walks in front of the vehicle does not actually exist. Normally, the vehicle will send a braking-related request to the braking execution system based on the recognized virtual information, and complete the test by detecting the vehicle's response measures. However, the virtual traffic participants cannot fully and accurately simulate the real situation, and it cannot be guaranteed that when a collision should occur between the autonomous vehicle and the pedestrian, they are exactly at the target collision position.

[0050] However, the present application uses an entity traffic participant model to participate in the test, and uses a self-moving device to perform trajectory planning and scheduling on the traffic participant model, which can accurately simulate a complex traffic environment and complete the test accordingly. In addition, this method can provide rich test scenarios for autonomous vehicles and ensure the test coverage.

[0051] To illustrate the technical solution of the present application, the following will be described through specific embodiments.

[0052] Referring to Figure 1 , a flowchart of a real vehicle-in-the-loop test method provided by an embodiment of the present application is shown. This real vehicle-in-the-loop test method can be applied to a simulation system, such as a traffic simulation system.

[0053] As Figure 1 shown, this real vehicle-in-the-loop test method may include the following steps:

[0054] Step 101: Obtain the real-time trajectory data of the vehicle to be tested.

[0055] The real-time trajectory data of the vehicle to be tested may include real-time position information and real-time status information. The real-time position information includes longitude, latitude, and heading angle, and the real-time status information includes speed, acceleration, braking information, and steering information.

[0056] As an example, the vehicle to be tested can upload its real-time position information and real-time status information to the simulation system in real time through a wireless communication module.

[0057] In the embodiments of the present application, an autonomous driving scenario or a V2X (Vehicle-to-X) scenario can be built in the simulation system first, and test scenario configuration information can be set. The test scenarios may include: detecting vehicles in blind spots, coping with lane changes, coping with emergency vehicles, etc. In addition, each test scenario is correspondingly set with a test trigger condition, such as whether the vehicle to be tested drives into a certain area, or whether the status information corresponding to the vehicle to be tested reaches a threshold, etc.

[0058] Further, after all the preparatory work for the test scenario is completed, the vehicle to be tested can move to the target test position according to the preset test scenario configuration information for testing.

[0059] Step 102: Generate the target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information.

[0060] The self-moving device is equipped with a traffic participant model, and the target trajectory information is used to instruct the self-moving device to move to the target test position.

[0061] As an example, the target trajectory information may include the target position information and target status information of the self-moving device at each moment within the target time period, which is used to accurately schedule the self-moving device.

[0062] As another example, during the test, the self-moving device can receive the trajectory, position, and status change instructions sent by the simulation system in real time through a wireless communication module, move in real time according to the target trajectory information, and make corresponding responses according to the instructions.

[0063] It should be noted that the traffic participant model is an object made according to the types of traffic participants required in the preset test scenario configuration information, and conforms to the appearance and size of the traffic participant types. The traffic participant model can be soft and light, such as a vehicle model, a dummy model, etc. Using the traffic participant model to replace the virtual traffic participants in the traditional solution can accurately simulate complex test scenarios.

[0064] In a possible implementation, the self-mobile device can be a drone, which can be used to lift and test the traffic participant model. The drone has a small volume and excellent maneuverability, and can move easily in complex test scenarios, including urban roads, highways, tunnels, forests, mountains, etc. This enables more comprehensive testing and improves the test coverage rate.

[0065] In the embodiment of the present application, the simulation system determines whether the test scenario meets the test trigger condition according to the real-time trajectory data of the device to be detected. For example, whether the vehicle to be tested enters a certain area, or whether the status information corresponding to the vehicle to be tested reaches a threshold value, etc. If it is satisfied, according to the test scenario requirements in the preset test scenario configuration information, virtual traffic participants are simulated, target trajectory information is generated, and then the target trajectory information of the virtual traffic participants is sent to the self-mobile device in the ready state. The self-mobile device moves according to the target trajectory information and participates in the scenario test. That is to say, when the real-time trajectory data of the vehicle to be tested triggers the test trigger condition, according to the preset test scenario configuration information, the target trajectory information of the self-mobile device is generated; then the target trajectory information is sent to the self-mobile device, so that the self-mobile device moves to the target test position according to the target trajectory information.

[0066] In a possible implementation, according to the requirements of the test scenario, multiple self-mobile devices can be called to participate in the test at the same time. That is to say, according to the preset test scenario configuration information, the target trajectory information of each self-mobile device is generated, and then the target trajectory information of each is sent to the corresponding self-mobile device respectively, so that each self-mobile device moves to the target test position according to the corresponding target trajectory information.

[0067] It should be noted that before the test, the self-mobile device needs to dock at a designated location in advance according to the test scenario requirements and enter the ready state to ensure the smooth progress of the test. In addition, if the test involves the cooperative operation of multiple self-mobile devices, preparing in advance helps to coordinate their actions. Communication and synchronization may be required between the self-mobile devices to achieve the expected interaction and behavior during the test. Docking in advance and entering the ready state can ensure that the self-mobile devices can work together at the start of the test without unnecessary delays or other problems during the test. That is, as a possible implementation of the embodiment of the present application, before the test, the self-mobile device can move to the initial position according to the preset test scenario configuration information, and the target trajectory information is used to instruct the self-mobile device to move from the initial position to the target test position.

[0068] Step 103, after the vehicle to be tested and the self-mobile device move to the target test position at the same time, generate the in-loop test result.

[0069] Among them, the vehicle to be tested will identify the traffic participant model at the target test position and take corresponding countermeasures. For example, it will send a braking-related request to the braking execution system, and complete the test by detecting the countermeasures of the vehicle.

[0070] In a possible implementation manner, after the vehicle to be tested and the self-moving device move to the target test position at the same time, the countermeasures of the vehicle to be tested against the traffic participant model can be obtained; and the in-loop test result can be generated according to the countermeasures.

[0071] In the embodiments of the present application, in order to ensure the accuracy and reliability of the test, it is necessary to perform time synchronization and space synchronization on the simulation system, the vehicle to be tested, and the self-moving device before the test. For example, the simulation system, the vehicle to be tested, and the self-moving device can use the same high-precision map and the same clock source. Taking time synchronization as an example, a clock source such as the Global Positioning System (GPS) can be used to ensure that all devices use the same clock information, so as to ensure that the simulation system, the vehicle to be tested, and the self-moving device operate on the same time basis.

[0072] The real vehicle in-loop test method disclosed in the above embodiments of the present application is applied to a simulation system. The simulation system first obtains the real-time trajectory data of the vehicle to be tested; then generates the target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information, where the self-moving device is equipped with a traffic participant model, and the target trajectory information is used to instruct the self-moving device to move to the target test position; finally, after the vehicle to be tested and the self-moving device move to the target test position at the same time, the in-loop test result is generated. Thus, the self-moving device is scheduled based on the trajectory data to realize the trajectory planning of the physical traffic participant model. Finally, the vehicle to be tested and the self-moving device are both at the target test position at the same moment, and then the simulation system can accurately simulate complex test scenarios. In addition, through the above embodiments, rich test scenarios can be provided for autonomous driving vehicles, ensuring the test coverage rate.

[0073] Refer to Figure 2 , which shows an example diagram of a real vehicle in-loop test method provided by the embodiments of the present application. As Figure 2As shown, first, a test scenario is configured and uploaded to the traffic simulation system. The autonomous vehicle under test uploads trajectory information such as its position and status to the traffic simulation system in real time. The traffic simulation system analyzes the trajectory information of the autonomous vehicle under test. After the autonomous vehicle under test meets the test trigger condition, it issues instructions to change the trajectories, positions, and statuses of virtual participants to each unmanned aerial vehicle. The unmanned aerial vehicle can hoist lightweight models of opponent vehicles, pedestrians, and other lightweight models, ultimately enabling the vehicle to be tested and the traffic participant models to be at the target test position at the same moment. Furthermore, the simulation system can accurately simulate complex test scenarios.

[0074] See Figure 3 , which shows a schematic structural diagram of a real vehicle in the loop test device provided by an embodiment of the present application. For ease of illustration, only parts related to the embodiment of the present application are shown.

[0075] The real vehicle in the loop test device may specifically include the following modules:

[0076] The data acquisition module 301 is used to acquire the real-time trajectory data of the vehicle to be tested.

[0077] The trajectory generation module 302 is used to generate the target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information. Among them, the self-moving device carries traffic participant models, and the target trajectory information is used to instruct the self-moving device to move to the target test position.

[0078] The test processing module 303 is used to generate the in-the-loop test result after the vehicle to be tested and the self-moving device simultaneously move to the target test position.

[0079] The real vehicle in the loop test device disclosed in the above embodiment of the present application is applied to a simulation system. The simulation system first acquires the real-time trajectory data of the vehicle to be tested; then generates the target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information. Among them, the self-moving device carries traffic participant models, and the target trajectory information is used to instruct the self-moving device to move to the target test position; finally, after the vehicle to be tested and the self-moving device simultaneously move to the target test position, the in-the-loop test result is generated. Thus, based on the trajectory data, the self-moving device is scheduled to realize the trajectory planning of the physical traffic participant models. Finally, the vehicle to be tested and the self-moving device are at the target test position at the same moment. Furthermore, the simulation system can accurately simulate complex test scenarios.

[0080] Further, in a possible implementation manner of an embodiment of the present application, the above preset test scenario configuration information includes a test trigger condition. The above trajectory generation module 302 may specifically include the following sub-modules:

[0081] The first processing sub-module is used to generate the target trajectory information of the self-mobile device according to the preset test scenario configuration information when the real-time trajectory data of the vehicle to be tested triggers the test trigger condition.

[0082] The second processing sub-module is used to send the target trajectory information to the self-mobile device, so that the self-mobile device moves to the target test position according to the target trajectory information.

[0083] Furthermore, in another possible implementation manner of the embodiment of the present application, there are multiple self-mobile devices as described above, and the first processing sub-module may specifically include the following units:

[0084] The first processing unit is used to generate the target trajectory information of each self-mobile device according to the preset test scenario configuration information.

[0085] The above-mentioned second processing sub-module may specifically include the following units:

[0086] The second processing unit is used to send each target trajectory information to the corresponding self-mobile device respectively, so that each self-mobile device moves to the target test position according to the corresponding target trajectory information.

[0087] Furthermore, in another possible implementation manner of the embodiment of the present application, the vehicle to be tested moves to the target test position according to the preset test scenario configuration information.

[0088] Furthermore, in another possible implementation manner of the embodiment of the present application, the above-mentioned test processing module 303 may specifically include the following sub-modules:

[0089] The first acquisition sub-module is used to acquire the response measures of the vehicle to be tested to the traffic participant model after the vehicle to be tested and the self-mobile device move to the target test position at the same time.

[0090] The third processing sub-module is used to generate the in-loop test result according to the response measures.

[0091] Furthermore, in another possible implementation manner of the embodiment of the present application, before acquiring the real-time trajectory data of the vehicle to be tested, the self-mobile device moves to the initial position according to the preset test scenario configuration information, and the target trajectory information is used to indicate the self-mobile device to move from the initial position to the target test position.

[0092] Furthermore, in another possible implementation manner of the embodiment of the present application, the above-mentioned in-vehicle-in-the-loop test device may specifically further include the following module:

[0093] The synchronization module is used to perform time synchronization and space synchronization on the simulation system, the vehicle to be tested and the self-mobile device.

[0094] Further, in another possible implementation manner of the embodiment of the present application, the self-moving device is a drone, and the drone hoists a traffic participant model.

[0095] Further, in another possible implementation manner of the embodiment of the present application, the real-time trajectory data of the vehicle to be tested includes real-time position information and real-time state information, where the real-time position information includes longitude, latitude, and heading angle, and the real-time state information includes speed, acceleration, braking information, and steering information.

[0096] Further, in yet another possible implementation manner of the embodiment of the present application, the target trajectory information includes target position information and target state information of the self-moving device at each moment within a target time period.

[0097] The in-vehicle-in-the-loop test device provided by the embodiment of the present application can be applied to the foregoing method embodiment. For details, refer to the description of the foregoing method embodiment, which will not be elaborated herein.

[0098] Figure 4 It is a schematic structural diagram of a terminal device provided by an embodiment of the present application. As Figure 4 shown, the terminal device 400 in this embodiment includes: at least one processor 410 ( Figure 4 only one processor is shown in the figure), a memory 420, and a computer program 421 stored in the memory 420 and executable on the at least one processor 410. When the processor 410 executes the computer program 421, the steps in the foregoing in-vehicle-in-the-loop test method embodiment are implemented.

[0099] The terminal device 400 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 410 and a memory 420. Those skilled in the art can understand that Figure 4 merely examples of the terminal device 400, which do not constitute a limitation on the terminal device 400. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0100] The so-called processor 410 may be a Central Processing Unit (CPU), and this processor 410 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0101] In some embodiments, the memory 420 may be an internal storage unit of the terminal device 400, such as the hard disk or memory of the terminal device 400. In other embodiments, the memory 420 may also be an external storage device of the terminal device 400, such as a plug-in hard disk equipped on the terminal device 400, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 420 may also include both the internal storage unit of the terminal device 400 and the external storage device. The memory 420 is used to store an operating system, application programs, a Boot Loader, data, and other programs, such as the program code of the computer program, etc. The memory 420 may also be used to temporarily store data that has been output or will be output.

[0102] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0103] In the above embodiments, the descriptions of the respective embodiments each have their own emphases. For parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0104] Those of ordinary skill in the art will realize that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0105] In the embodiments provided in this application, it should be understood that the disclosed apparatus / terminal device and method can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0106] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of this application, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0109] To implement all or part of the processes in the above-described embodiment methods of this application, it can also be completed by a computer program product. When the computer program product runs on a terminal device, the terminal device can execute the steps in the above-described method embodiments.

[0110] The above-described embodiments are only used to illustrate the technical solutions of this application, rather than to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A method for in-the-loop testing of a real vehicle, characterized in that, Applied to a simulation system, the real vehicle-in-the-loop test method includes: Obtain the real-time trajectory data of the vehicle to be tested; Generate the target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information, wherein the self-moving device is equipped with a traffic participant model, and the target trajectory information is used to instruct the self-moving device to move to the target test position; After the vehicle to be tested and the self-moving device both move to the target test position, generate the in-the-loop test result.

2. The in-the-loop test method for a real vehicle according to claim 1, wherein The preset test scenario configuration information includes a test trigger condition. The generating the target trajectory information of the self-moving device according to the real-time trajectory data of the vehicle to be tested and the preset test scenario configuration information includes: When the real-time trajectory data of the vehicle to be tested triggers the test trigger condition, generate the target trajectory information of the self-moving device according to the preset test scenario configuration information; Send the target trajectory information to the self-moving device so that the self-moving device moves to the target test position according to the target trajectory information.

3. The in-loop test method for a real vehicle according to claim 2, characterized in that, There are multiple self-moving devices. When the real-time trajectory data of the vehicle to be tested triggers the test trigger condition, the generating the target trajectory information of the self-moving device according to the preset test scenario configuration information includes: Generate the target trajectory information of each self-moving device according to the preset test scenario configuration information; The sending the target trajectory information to the self-moving device so that the self-moving device moves to the target test position according to the target trajectory information includes: Send each target trajectory information to the corresponding self-moving device respectively so that each self-moving device moves to the target test position according to the corresponding target trajectory information.

4. The real vehicle-in-the-loop test method according to claim 1, characterized in that, The vehicle to be tested moves to the target test position according to the preset test scenario configuration information.

5. The real vehicle-in-the-loop test method according to claim 1, characterized in that, The generating the in-the-loop test result after the vehicle to be tested and the self-moving device both move to the target test position includes: After the vehicle to be tested and the self-moving device both move to the target test position, obtain the response measures of the vehicle to be tested to the traffic participant model; Generate the in-the-loop test result according to the response measures.

6. The real vehicle-in-the-loop test method according to claim 1, characterized in that, Before obtaining the real-time trajectory data of the vehicle to be tested, the self-moving device moves to the initial position according to the preset test scenario configuration information, and the target trajectory information is used to instruct the self-moving device to move from the initial position to the target test position.

7. The in-vehicle-in-the-loop test method according to any one of claims 1-6, characterized in that, Before obtaining the real-time trajectory data of the vehicle to be tested, the real vehicle-in-the-loop test method further includes: Perform time synchronization and space synchronization on the simulation system, the vehicle to be tested and the self-moving device.

8. The real vehicle-in-the-loop test method according to any one of claims 1-6, characterized in that, The self-moving device is a drone, and the drone hoists the traffic participant model.

9. The real vehicle-in-the-loop test method according to any one of claims 1-6, characterized in that, The real-time trajectory data of the vehicle to be tested includes real-time position information and real-time state information, wherein the real-time position information includes longitude, latitude and heading angle, and the real-time state information includes speed, acceleration, brake information and steering information.

10. The in-vehicle-in-the-loop test method according to any one of claims 1-6, characterized in that, The target trajectory information includes the target position information and target status information of the self - moving device at each moment within a target time period.

11. A real vehicle-in-the-loop test device, characterized in that, Applied to a simulation system, the in - loop vehicle test device includes: A data acquisition module, configured to acquire real - time trajectory data of a vehicle to be tested; A trajectory generation module, configured to generate target trajectory information of a self - moving device according to the real - time trajectory data of the vehicle to be tested and preset test scenario configuration information, wherein the self - moving device is equipped with a traffic participant model, and the target trajectory information is used to instruct the self - moving device to move to a target test position; A test processing module, configured to generate an in - loop test result after the vehicle to be tested and the self - moving device simultaneously move to the target test position.

12. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 10.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method according to any one of claims 1 to 10.

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