HIL test system and method for automated test and improved result detection

Abstract

The present application discloses a HIL test system and method for automated test result detection, which relates to the field of autonomous driving test technology. The automated test software in the system is used to execute the automated operation of the test script, judge the test results based on the signal list, and output the test results; the test management software is used to run the vehicle dynamics model and the SoftECU model, and perform signal interaction between the scenario simulation software and the intelligent driving domain controller through the signal mapping module; the scenario simulation software is used to generate the motion status, lane position and sensor detection information of traffic participants in the simulation scenario, and to package and transmit the second type of signal over the network; the Simulink calculation model is used to receive and unpack the supplementary signals sent by the scenario simulation software, and perform logical operations on the third type of signal to generate intermediate detection signals. This application can solve the problem that some test cases cannot be automatically analyzed and evaluation results obtained.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving testing technology, and in particular to a HIL testing system and method for automated testing and improvement result detection. Background Art

[0002] During hardware-in-the-loop simulation testing of an intelligent driving domain controller, the test management software centrally manages the test, receives target object information, sensor detection information, and sensor status information from the scenario simulation software, and simultaneously runs the vehicle dynamics model loaded into the software and the SoftECU model used to simulate the interaction between the intelligent driving domain controller and other domain controllers. It also sets up mapping relationships between signals, transmits perception information to the domain controller, and transmits control instructions issued by the domain controller to the dynamics model and synchronously updates the simulation scenario, thus completing the closed-loop operation of the simulation system. The scenario information in the simulation scenario software is generally transmitted through the signal transmission module inherent to the test management software.

[0003] To improve testing efficiency, automated testing software is used to centrally manage the testing process, automating test execution and analyzing and monitoring test results. In conventional hardware-in-the-loop automated testing systems, the automated testing software connects to test management software for unified test management and scenario simulation software for remote control of scenario simulation content.

[0004] However, with the rapid development of autonomous driving technology, the range of vehicle usage scenarios has significantly expanded. Many vehicles now cover a full range of scenarios, from highways to urban environments. To verify complete functional specifications, simulation test scenarios involve increasingly complex and diverse scene elements. The decision-making inputs for autonomous driving algorithms require real-time information about environmental factors, including real-time traffic conditions and the vehicle's precise position relative to left and right lane lines on high-definition road maps. This information is closely related to the scene environment and can be directly obtained from the simulation or calculated through logical operations. Limited by the signal transmission mechanism between the scenario simulation software and the test management software, the development of a dedicated signal transmission module for this information transmission is challenging, difficult, and time-consuming. This makes it difficult to keep pace with the actual testing schedule during actual execution. Consequently, some signals not included in the standard signal transmission module for result detection are unavailable, making it impossible for some test cases to automatically analyze the expected results described in the scenario and the defined evaluation indicators, and thus obtain evaluation results. Summary of the Invention

[0005] The purpose of this application is to provide a HIL test system and method for automated test improvement result detection, which can solve the problem in the prior art that some test cases cannot be automatically analyzed and evaluation results obtained.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a HIL test system for automated test improvement result detection, comprising: automated test software, test management software, a scenario simulation subsystem, and a Simulink computational model;

[0008] The automated testing software is configured to execute automated runs of test scripts, determine test results based on a signal list, and output test results comprising three states: passing the test target, failing the test target, and failing to reach the test target; the signal list comprises: first-category signals, second-category signals, and third-category signals; the first-category signals are signals directly called or obtained through a mapping calculation by an inherent signal transmission module of the test management software; the second-category signals are signals directly read from the scenario simulation software; and the third-category signals are signals generated by performing logical operations on the second-category signals;

[0009] The test management software is used to run the vehicle dynamics model and the SoftECU model, and to perform signal interaction between the scenario simulation software and the intelligent driving domain controller through the signal mapping module;

[0010] The scenario simulation software is used to generate the motion status, lane position and sensor detection information of traffic participants in the simulation scenario, and to package and transmit the second type of signal through the interface program;

[0011] The Simulink calculation model is deployed in the host computer and is used to receive and unpack the supplementary signals sent by the scene simulation software, perform logical operations on the third type of signals to generate intermediate detection signals; the supplementary signals are the second type of signals and the third type of signals.

[0012] Optionally, the scenario simulation software specifically includes:

[0013] The first packet grouping module is used to filter the packets to which the target signal belongs in the scene simulation software and re-pack them according to the preset information category to obtain the packet grouping signal;

[0014] The signal sending module is used to send the packaged signal to the host computer with the specified IP address and port number through the UDP or TCP protocol.

[0015] Optionally, the packaged signal includes the lane ID of the vehicle, the lane ID of the target vehicle, the position information of the vehicle and the target vehicle in the lane extension direction, and the type and distance information of the target object detected by the sensor.

[0016] Optionally, the Simulink calculation model specifically includes:

[0017] A first logic operation module is used to determine whether the target vehicle is located within a preset area based on the lane position information of the target vehicle and the host vehicle;

[0018] The second logic operation module is used to determine whether the lane change is completed according to the change status of the lane ID of the vehicle;

[0019] The third logic operation module is used to generate a judgment signal to determine whether the expected conditions of the algorithm are met based on the relative distance between the interfering vehicle and the host vehicle.

[0020] Optionally, the simulation step size of the Simulink calculation model is consistent with the simulation step size set in the test management software.

[0021] Optionally, the automated testing software specifically includes:

[0022] The result comparison module is used to call the first type of signal and the intermediate detection signal generated by the Simulink calculation model to compare with the expected result of the test case; if the signal judgment condition is met, the output is passed the test target; if any of the signal judgment conditions is not met, the output is failed the test target; if the signal is missing or times out, the output is not achieved the test target.

[0023] Optionally, the interface program is a plug-in program in the scene simulation software, specifically including:

[0024] The acquisition module is used to intercept the original packets output by the scene simulation software in real time;

[0025] The second packet grouping module is used to extract the second type of signal from the original packet and re-pack it, and send it to the host computer through the designated port.

[0026] In a second aspect, the present application provides a testing method based on the HIL testing system for automated test improvement result detection, comprising:

[0027] Based on the automated testing software and the autonomous driving functional specifications, the expected results of the test cases in the automated testing software are decomposed to obtain a list of signals required for automated result detection; the list of signals includes: first-category signals, second-category signals, and third-category signals; first-category signals are signals directly called or obtained through mapping calculations using the inherent signal transmission module of the test management software; second-category signals are signals directly read from the scenario simulation software; and third-category signals are signals generated by performing logical operations on second-category signals;

[0028] Through the interface program of the scenario simulation software, the second type of signal is packaged according to the information category and transmitted to the host computer where the automated test tool is located via the network;

[0029] Use Simulink to build a signal receiving model in the host computer and analyze the received supplementary signal;

[0030] For the third type of signal, a Simulink calculation model is built based on the logic rules of the algorithm being tested to generate the intermediate signals required for detection;

[0031] Load the Simulink calculation model into the automated testing tool, and set its simulation step size to be consistent with the simulation step size of the test management software;

[0032] Based on the signal list and the supplementary signals, the automated testing tool is controlled to execute the test script and synchronously output the test results.

[0033] Optionally, the test results include passed, failed, and failed to meet the test target.

[0034] Optionally, the logical operation includes one or more of lane position determination, target vehicle distance calculation, and lane change condition determination.

[0035] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0036] The present application provides a HIL test system and method for automated test result detection. In this system, first, the automated test software is responsible for executing the automated operation of the test script, and judging the test results based on the signal list, and outputting the test results, thereby ensuring the efficiency and accuracy of the test process. Secondly, the test management software runs the vehicle dynamics model and the SoftECU model, and realizes the signal interaction between the scenario simulation software and the intelligent driving domain controller through the signal mapping module; thirdly, the scenario simulation software generates the motion state, lane position and sensor detection information of the traffic participants in the simulation scene, and packages and transmits the second type of signal over the network, which provides a real and complex test environment for the test case; finally, the Simulink calculation model receives and unpacks the supplementary signal sent by the scenario simulation software, performs logical operations on the third type of signal to generate an intermediate detection signal, thereby improving the depth and breadth of the test and enabling the system to handle more types of test cases. By integrating the automated test software, the test management software, the scenario simulation software and the Simulink calculation model, the system can solve the problem that some test cases cannot be automatically analyzed and the evaluation results cannot be obtained, thereby improving the efficiency and accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic diagram of the structure of a HIL test system for automated test improvement result detection provided in one embodiment of the present application;

[0039] Figure 2 This is an automated test topology diagram before improvement provided in one embodiment of the present application;

[0040] Figure 3 A flow chart of a HIL test method for automated test improvement result detection provided in one embodiment of the present application;

[0041] Figure 4 A schematic diagram of a test scenario provided in an embodiment of the present application;

[0042] Figure 5 A schematic diagram of the network signal interface module configuration according to an embodiment of the present application;

[0043] Figure 6 A schematic diagram of a logical calculation model provided in one embodiment of the present application;

[0044] Figure 7 A schematic diagram of configuration parameters provided in an embodiment of the present application;

[0045] Figure 8 A schematic diagram of automated testing software provided in one embodiment of the present application;

[0046] FIG9( a ) is a schematic diagram of a first test result provided in an embodiment of the present application;

[0047] FIG9( b ) is a schematic diagram of a second test result provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0050] Example 1

[0051] like Figure 1 As shown, this embodiment provides a HIL test system for automated test and improved result detection, including: automated test software, test management software, scenario simulation subsystem and Simulink calculation model;

[0052] The automated testing software is configured to execute automated runs of test scripts, determine test results based on a signal list, and output test results comprising three states: passing the test target, failing the test target, and failing to reach the test target; the signal list comprises: first-category signals, second-category signals, and third-category signals; the first-category signals are signals directly called or obtained through a mapping calculation by an inherent signal transmission module of the test management software; the second-category signals are signals directly read from the scenario simulation software; and the third-category signals are signals generated by performing logical operations on the second-category signals;

[0053] The test management software is used to run the vehicle dynamics model and the SoftECU model, and to perform signal interaction between the scenario simulation software and the intelligent driving domain controller through the signal mapping module;

[0054] The scenario simulation software is used to generate the motion status, lane position and sensor detection information of traffic participants in the simulation scenario, and to package and transmit the second type of signal through the interface program;

[0055] The Simulink calculation model is deployed in the host computer and is used to receive and unpack the supplementary signals sent by the scene simulation software, perform logical operations on the third type of signals to generate intermediate detection signals; the supplementary signals are the second type of signals and the third type of signals.

[0056] The HIL test system provided by this application for automated test and perfect result detection is based on the following Figure 2 The improvement is based on the automated test system shown in the figure. By adding Simulink calculation models and supplementing scenario simulation, a HIL test system for automated test and improved result detection is finally obtained.

[0057] The scenario simulation software specifically includes:

[0058] The first packet grouping module is used to filter the packets to which the target signal belongs in the scene simulation software and re-pack them according to the preset information category to obtain the packet grouping signal;

[0059] The signal sending module is used to send the packaged signal to the host computer with the specified IP address and port number through the UDP or TCP protocol.

[0060] The packaged signal includes the lane ID of the vehicle, the lane ID of the target vehicle, the position information of the vehicle and the target vehicle in the lane extension direction, and the type and distance information of the target object detected by the sensor.

[0061] Specifically, the scene simulation software generally has an interface program for sending signals outward, which is packaged and sent according to different information categories. For example, the dedicated signal transmission module generally includes: target state information, sensor state information, and target object information detected by the sensor. The target state information refers to the position, speed, acceleration and other information of other traffic participants other than the vehicle in the simulation scene. The sensor state information refers to the sensor type, sensor FOV parameter settings and other information. The target object information detected by the sensor refers to the target distance sensor information and target object type information. According to the specific content of the supplementary information, query which package this information belongs to in the scene simulation software, select the required signal from the specific package, re-package it and send it to the host computer where the automated test tool is located through network transmission. The IP and port number of the host computer need to be specified.

[0062] The Simulink calculation model specifically includes:

[0063] A first logic operation module is used to determine whether the target vehicle is located within a preset area based on the lane position information of the target vehicle and the host vehicle;

[0064] The second logic operation module is used to determine whether the lane change is completed according to the change status of the lane ID of the vehicle;

[0065] The third logic operation module is used to generate a judgment signal to determine whether the expected conditions of the algorithm are met based on the relative distance between the interfering vehicle and the host vehicle.

[0066] Among them, in order to ensure the time synchronization of the Simulink model and the entire simulation test system, before importing the automated test tool, the simulation step size of the Simulink model needs to be set to be consistent with the simulation step size set in the test management software.

[0067] The automated testing software specifically includes:

[0068] The result comparison module is used to call the first type of signal and the intermediate detection signal generated by the Simulink calculation model to compare with the expected result of the test case; if the signal judgment condition is met, the output is passed the test target; if any of the signal judgment conditions is not met, the output is failed the test target; if the signal is missing or times out, the output is not achieved the test target.

[0069] Specifically, the number of test cases required to fully cover a functional specification can range from several hundred to several thousand. The test results for each functional point can vary significantly, requiring the expected results for each functional point to be collated and compiled into a required signal list. By performing numerical evaluations on the signals in the signal list, the test results for each test case are determined, typically including pass, fail, and failure to achieve the test objective.

[0070] The interface program is a plug-in program in the scene simulation software, specifically including:

[0071] The acquisition module is used to intercept the original packets output by the scene simulation software in real time;

[0072] The second packet grouping module is used to extract the second type of signal from the original packet and re-pack it, and send it to the host computer through the designated port.

[0073] Example 2, as Figure 3 As shown, this embodiment provides a testing method based on the HIL testing system for automated test improvement result detection, including:

[0074] Step 301: Based on the automated testing software and the autonomous driving function specifications, decompose the expected results of the test cases in the automated testing software to obtain a list of signals required for automated result detection; the list of signals includes: first-category signals, second-category signals, and third-category signals; the first-category signals are signals directly called or obtained through mapping calculations by the inherent signal transmission module of the test management software; the second-category signals are signals directly read from the scenario simulation software; and the third-category signals are signals generated by performing logical operations on the second-category signals;

[0075] Step 302: Using the interface program of the scenario simulation software, the second type of signal is packaged according to information category and transmitted via the network to the host computer where the automated test tool is located;

[0076] Step 303: Using Simulink to build a signal receiving model in the host computer and analyze the received supplementary signal;

[0077] Step 304: For the third type of signal, a Simulink calculation model is built based on the logic rules of the algorithm under test to generate the intermediate signal required for detection;

[0078] Step 305: Load the Simulink calculation model into the automated testing tool, and set its simulation step size to be consistent with the simulation step size of the test management software;

[0079] Step 306: Based on the signal list and the supplementary signal, control the automated testing tool to execute the test script and synchronously output the test results.

[0080] When executing steps 301-306, the specific steps may be as follows:

[0081] First, based on the expected results written in the test cases, a systematic list of signals required to fully automate the test results is compiled. The number of test cases, to cover the complete autonomous driving functional specification, can range from hundreds to thousands. The expected results corresponding to each function point vary significantly, so the expected result items for each function point must be carefully organized to compile the required signal list. By numerically judging the signals in the signal list, the test results of each test case can be obtained, which generally include test results in three states: passing the test target, failing the test target, and not reaching the test target.

[0082] Next, the signals in the signal list are carefully verified. These signals can be divided into three categories: the first category, which refers to the majority of commonly used signals, has been developed in the dedicated signal transmission module and can be directly called or applied through model signal mapping and calculation within the test management software. The second category can be directly read in the scenario simulation software, but due to the lack of a transmission path, it cannot be called by automated test tools. The third category requires logical operations based on the information output by the scenario simulation software before it can be used by automated test tools for result detection. The signal sources of these signals are not covered by the dedicated signal transmission module and therefore cannot be obtained in the test management software.

[0083] Next, the input signals for the second and third categories of signals in the signal list are the supplementary information that needs to be read directly from the scenario simulation end. Scenario simulation software typically includes an interface program for sending signals outward, which packages and sends different information categories. For example, a dedicated signal transmission module typically includes: target state information, sensor state information, and sensor-detected target information. Target state information refers to information such as the position, speed, and acceleration of other traffic participants in the simulation scenario besides the vehicle itself; sensor state information refers to information such as the sensor type and sensor FOV parameter settings; and sensor-detected target information refers to information such as the target's distance from the sensor and the target type. Based on the specific content of the supplementary information, the scenario simulation software is queried to determine which package this information belongs to. The required signals are then repackaged from the specific package and sent via network transmission to the host computer where the automated testing tool resides. The host computer's IP and port number must be specified.

[0084] In the host computer, a signal receiving model based on Simulink is built in Matlab to receive the supplementary signals sent by the image station. The IP and port number are set accordingly. After receiving the information from the image station, it is unpacked according to the same packet assembly order to parse out the required signal list.

[0085] Then, for the third type of signal in the signal list, a calculation model is built based on logical rules. The logical rules are related to the specific algorithm requirements of each domain controller under test. Only by accurately implementing the judgment prerequisites described by the algorithm can the functions of the intelligent driving domain controller be accurately tested and verified. The feedback results are used for iterative upgrades of the algorithm.

[0086] After building the Simulink model, you need to load it into the automated test tool so that its output signals can be called. To ensure time synchronization between the Simulink model and the entire simulation test system, before importing it into the automated test tool, you need to set the simulation step size of the Simulink model to be consistent with the simulation step size set in the test management software.

[0087] Finally, after loading the Simulink model into the automated test tool, the supplementary signals can be used to automatically determine the test results, ensuring that the test script corresponds to the expected results and that all test conditions are set. When the automated test script is running, the script can automatically perform simulation tests and result checks, and directly output the test results.

[0088] This application also provides an actual test embodiment for a HIL test method for automated test result detection, wherein the test scenario is as follows: Figure 4 As shown, the embodiments are as follows:

[0089] 1) Test steps:

[0090] (1) If Figure 4 As shown, the vehicle (Ego) recognizes the stationary obstacle in front and the interfering target vehicle 1 (Obj1) on the left in the automatic driving state;

[0091] (2) After the target vehicle 1 completes its lane change, the vehicle changes lanes to avoid the obstacle;

[0092] (3) After passing the obstacle, the vehicle changes lanes again and returns to the original lane.

[0093] 2) Expected results:

[0094] (1) There is an interfering target vehicle 1 in the target lane change area. The vehicle first slows down and waits for the opportunity to change lanes.

[0095] (2) After the interference target vehicle 1 drives out of the target lane change area, the host vehicle completes the lane change autonomously.

[0096] The requirement for the "target lane change target area" in the desired result stems from the algorithm's internal logic. Assuming the "target lane change target area" refers to the area 30 meters behind the vehicle's rear and 20 meters in front of the vehicle's front in the lane to its left, one of the signals required to achieve this test result is interfering vehicle position determination. This means determining whether target vehicle 1 is within the blue area, 30 meters behind and 20 meters in front of the vehicle in the lane to its left, during the test. Furthermore, determining whether the vehicle has completed the lane change requires the following signal: the vehicle's lane ID. A change in this signal indicates the vehicle has completed the lane change.

[0097] Confirming the interfering vehicle's position determination signal falls under the third category, requiring logical operations based on the output of the scenario simulation software before the automated test tool can detect the results. Obstacle determination signals require the following inputs: the lane ID of the interfering target vehicle, the interfering target vehicle's position relative to the lane's starting point in the lane's extension direction, and the host vehicle's position relative to the lane's starting point in the lane's extension direction. The host vehicle's lane ID falls under the second category, meaning it can be directly read in the scenario simulation software but requires unpacking, assembly, and network transmission to the host computer's Simulink model before it can be loaded into the automated test tool for application.

[0098] Specifically, when the scenario simulation software is operating normally, it will continuously send out scenario information in the form of TCP or UDP, including but not limited to the vehicle's motion information, the target vehicle's motion information, the lane number of the vehicle's section, the vehicle's map location, etc. This information is transmitted in different packages (pkg for short). A plug-in program is compiled in the map station where the scenario simulation software is located to receive and unpack this pkg information, and then filter the information required by the downstream algorithm from the unpacked information and send it out via UDP. In this example, there are five signals that need to be sent: the lane ID of the vehicle, the lane ID of the interfering target vehicle, the position information of the interfering target vehicle in the direction of the lane extension from the lane starting point, and the position information of the vehicle in the direction of the lane extension from the lane starting point.

[0099] In the host computer, a signal receiving model based on Simulink is built in Matllab to receive the supplementary signal sent by the graphics station. The IP and port number are set accordingly. After receiving the information from the graphics station, the information is unpacked according to the same packet sequence to parse out the required signal list. The signal list diagram is shown as follows Figure 5 shown.

[0100] Among them, for the third type of signal in the signal list, a calculation model is built based on logical rules. Figure 6 As shown, the input required by the downstream algorithm in actual testing may be more complex, so this is just a simple example. Output 5: DetectionResult is used to determine the interfering vehicle's position; Output 1: Ego_laneID is used to determine whether the vehicle has changed lanes.

[0101] After building the Simulink model, you need to load it into the automated test tool so that its output signals can be called. To ensure time synchronization between the Simulink model and the entire simulation test system, the simulation step size of the Simulink model must be set to be consistent with the simulation step size set in the test management software before importing it into the automated test tool.

[0102] in, Figure 7 The simulation step size is set to 0.001s, which corresponds to the simulation frequency of 1000Hz in the experiment management software, ensuring the time synchronization in the time simulation environment. In the automated test software, the experiment management software, the scenario simulation software and the simulink unpacking and processing model are loaded at the same time. For example, Figure 8 As shown:

[0103] Finally, after loading the Simulink model into the automated testing tool, supplementary signals can be used to automatically determine test results, ensuring a one-to-one correspondence between the test script and the expected results, and that all test conditions are fully set. When the automated test script runs, the script automatically performs simulation testing and result verification, directly outputting the test results. As shown in Figures 9(a) and 9(b), both test results indicate Success, indicating that this test case has passed.

[0104] In summary, this application has the following technical effects:

[0105] 1) Achieve fully automatic generation of autonomous driving test results: Ensure that all expected results can be obtained by extracting precise variables from the scene and obtaining accurate test results after analysis and calculation.

[0106] 2) Adopting a flexible variable reading method: By filtering the variable list of the scenario simulation software for packaging, the cost of developing a dedicated plug-in for matching test management software is effectively reduced. Using Simulink for corresponding unpacking and secondary logic operations can easily implement various complex specific algorithm requirements in the functional specification, thereby providing accurate expected signals for the automated test tool. At the same time, the SetPace module in the tool ensures the real-time performance of the entire HIL system.

[0107] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A HIL test system for automated test and result detection, characterized in that: include: Automated testing software, test management software, scenario simulation subsystem and Simulink computational model; The automated testing software is configured to execute automated runs of test scripts, determine test results based on a signal list, and output test results comprising three states: passing the test target, failing the test target, and failing to reach the test target; the signal list comprises: first-category signals, second-category signals, and third-category signals; the first-category signals are signals directly called or obtained through a mapping calculation by an inherent signal transmission module of the test management software; the second-category signals are signals directly read from the scenario simulation software; and the third-category signals are signals generated by performing logical operations on the second-category signals; The automated testing software specifically includes: The result comparison module is used to call the first type of signal and the intermediate detection signal generated by the Simulink calculation model to compare with the expected result of the test case; if the signal judgment condition is met, the test target is passed; if any of the signal judgment conditions is not met, the test target is failed; if the signal is missing or timed out, the test target is not achieved. The test management software is used to run the vehicle dynamics model and the SoftECU model, and to perform signal interaction between the scenario simulation software and the intelligent driving domain controller through the signal mapping module; The scenario simulation software is used to generate the motion status, lane position and sensor detection information of traffic participants in the simulation scenario, and to package and transmit the second type of signal through the interface program; The Simulink computing model is deployed in the host computer and is used to receive and unpack the supplementary signal sent by the scene simulation software, and perform logical operations on the supplementary signal to generate an intermediate detection signal; the supplementary signal is the input signal of the second type signal and the third type signal; The Simulink calculation model specifically includes: A first logic operation module is used to determine whether the target vehicle is located within a preset area based on the lane position information of the target vehicle and the host vehicle; The second logic operation module is used to determine whether the lane change is completed according to the change status of the lane ID of the vehicle; The third logic operation module is used to generate a judgment signal to determine whether the expected conditions of the algorithm are met based on the relative distance between the interfering vehicle and the host vehicle; The simulation step size of the Simulink calculation model is consistent with the simulation step size set in the test management software.

2. The HIL test system for automated test result detection according to claim 1, characterized in that: The scene simulation software specifically includes: The first packet grouping module is used to filter the packets to which the target signal belongs in the scene simulation software and re-pack them according to the preset information category to obtain the packet grouping signal; The signal sending module is used to send the packaged signal to the host computer with the specified IP address and port number through the UDP or TCP protocol.

3. The HIL test system for automated test result detection according to claim 2, characterized in that: The packaged signal includes the lane ID of the vehicle, the lane ID of the target vehicle, the position information of the vehicle and the target vehicle in the lane extension direction, and the type and distance information of the target object detected by the sensor.

4. The HIL test system for automated test result detection according to claim 1, characterized in that: The interface program is a plug-in program in the scene simulation software, specifically including: The acquisition module is used to intercept the original packets output by the scene simulation software in real time; The second packet grouping module is used to extract the second type of signal from the original packet and re-pack it, and send it to the host computer through the designated port.

5. A test method for a HIL test system for automated test result detection based on any one of claims 1 to 4, characterized in that: include: Based on the automated testing software and the autonomous driving functional specifications, the expected results of the test cases in the automated testing software are decomposed to obtain a list of signals required for automated result detection; the list of signals includes: first-category signals, second-category signals, and third-category signals; first-category signals are signals directly called or obtained through mapping calculations using the inherent signal transmission module of the test management software; second-category signals are signals directly read from the scenario simulation software; and third-category signals are signals generated by performing logical operations on second-category signals; Through the interface program of the scenario simulation software, the second type of signal is packaged according to the information category and transmitted to the host computer where the automated test tool is located via the network; Use Simulink to build a signal receiving model in the host computer and analyze the received supplementary signal; For the third type of signal, a Simulink calculation model is built based on the logic rules of the algorithm being tested to generate the intermediate signals required for detection; Load the Simulink calculation model into the automated testing tool, and set its simulation step size to be consistent with the simulation step size of the test management software; Based on the signal list and the supplementary signal, the automated test tool is controlled to execute the test script and synchronously output the test results.

6. The testing method according to claim 5, characterized in that: The test results include pass, fail, and fail to meet the test target.

7. The testing method according to claim 5, characterized in that: The logical operation includes one or more of lane position determination, target vehicle distance calculation, and lane change condition determination.

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