Remote testing method, device, system and equipment and storage medium

Abstract

The invention relates to a remote testing method, device, system and equipment and a storage medium, and the remote testing method comprises the steps: building a position mapping relation between an actual position and a virtual position of a testing vehicle based on initial actual position information and initial virtual position information; and in the driving process of the test vehicle based on the target test site information, controlling V2X message transmission between the test vehicle and the roadside equipment of the target test site based on the position mapping relation, the vehicle V2X communication range and the target test site information so as to realize remote test of the test vehicle based on V2X. According to the method, the V2X-based test can be realized without actually transporting the test vehicle to the target test site, so that the V2X-based test can be conveniently carried out, the utilization rate of the test site can be improved, the test cost can be reduced, the V2X-based test experience can be improved, and the V2X technology can be conveniently popularized and applied.

Description

Technical Field

[0001] The present application relates to the field of testing technology, and in particular to a remote testing method, apparatus, system, equipment and storage medium. Background Art

[0002] Vehicle-road collaboration is a self-driving technology solution for urban roads, among which the V2X (vehicle to X) protocol is the most representative. The following description will focus on V2X. Currently, V2X is an autonomous driving communication technology that will inevitably be promoted in the foreseeable future. However, in the process of promoting this technology, due to considerations such as cost and maturity, V2X test sites currently exist in the form of pilot parks and pilot areas. This feature can be called pilot. Moreover, since the V2X protocol is not mature at this stage, there are still many details worth discussing that need to be confirmed and updated. In addition, there are certain differences in the understanding of the protocol among various manufacturers. This means that the pilot nature of V2X may exist for a long time.

[0003] Due to the pilot nature of V2X, test sites often have high costs but low utilization rates, failing to generate revenue sufficient to cover management and maintenance costs. Low utilization also reduces the likelihood of discovering problems with the site itself, hindering protocol evolution. Furthermore, due to geographical constraints and testing characteristics, the cost of testing itself increases with the distance from the test site, including transportation costs for test vehicles and travel expenses for testers. For open pilot sites, while traffic flow provides test data, it also poses certain safety risks. For closed sites, access is often inconvenient, and even the closed campus itself prevents effective utilization. In other words, current V2X test site testing methods are highly limited, costly, and have low utilization rates. Summary of the Invention

[0004] One of the objects of the present application is to provide a remote testing method, which can perform remote testing based on the mapping relationship between the actual position of the test vehicle and its virtual position in the V2X test site, so as to reduce testing costs and improve test site utilization; the second object of the present application is to provide a remote testing method; the third object of the present application is to provide a remote testing method; the fourth object of the present application is to provide a remote testing device; the fifth object of the present application is to provide a remote testing device; the sixth object of the present application is to provide a remote testing system; the seventh object of the present application is to provide a device; the eighth object of the present application is to provide a storage medium.

[0005] To achieve the above objectives, in a first aspect, the present application provides a remote testing method, the remote testing method comprising:

[0006] transmitting target test site information corresponding to the test vehicle to the test vehicle;

[0007] Receiving initial actual position information, initial virtual position information, and vehicle V2X communication range transmitted by the test vehicle; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle selected at the target test site corresponding to the target test site information;

[0008] Establishing a position mapping relationship based on the initial actual position information and the initial virtual position information; wherein the position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, the actual position being the position of the test vehicle at the actual driving site, and the virtual position being the position of the test vehicle at the target test site;

[0009] While the test vehicle is driving based on the target test site information, V2X message transmission between the test vehicle and the roadside equipment of the target test site is controlled based on the position mapping relationship, the vehicle V2X communication range and the target test site information, so as to perform remote testing on the test vehicle based on V2X.

[0010] Optionally, controlling V2X message transmission between the test vehicle and a roadside device at the target test site based on the position mapping relationship, the vehicle V2X communication range, and the test site information includes:

[0011] Receiving V2X vehicle-side data transmitted by the test vehicle;

[0012] Determining the current virtual position information of the test vehicle at the target test site based on the position mapping relationship and the current actual position information in the V2X vehicle-side data;

[0013] Determining a roadside device within the V2X communication range of the vehicle at a current virtual position in the target test site as a target receiving roadside device; wherein the current virtual position is a position represented by the current virtual position information;

[0014] Transmitting the V2X vehicle-side data to the target receiving roadside device;

[0015] Determine a roadside device in the target test site whose V2X communication range includes the current virtual location as a target sending roadside device;

[0016] The V2X test site end data received from the target sending roadside equipment is transmitted to the test vehicle.

[0017] Optionally, the remote testing method includes:

[0018] If a site release instruction is received, the test binding relationship between the target test site and the test vehicle is released; wherein the site release instruction indicates that the test vehicle has completed the test based on the target test site.

[0019] Optionally, the remote testing method includes:

[0020] Based on the received site acquisition instruction, transmit a test site information list to the test vehicle; wherein the test site information list includes test site information corresponding to at least one registered test site;

[0021] receiving site reservation information of the target test site transmitted by the test vehicle;

[0022] If the site reservation information does not include any items to be approved, permission information for the target test site is issued to the test vehicle; and / or if the site reservation information includes any items to be approved, permission information for the target test site is issued to the test vehicle after receiving an approval instruction.

[0023] Optionally, before transmitting the target test site information to the test vehicle, the remote testing method includes:

[0024] A pass permission for the test vehicle is determined.

[0025] Optionally, the remote testing method includes:

[0026] During the test of the test vehicle based on the target test site, if problem feedback information sent by the test vehicle is received, selecting a comparison test site with the same V2X message version as the target test site;

[0027] Controlling V2X message transmission between the test vehicle and the roadside equipment at the comparison test site to perform a comparison test corresponding to the problem feedback information.

[0028] To achieve the above objectives, in a second aspect, the present application further provides a remote testing method, the remote testing method comprising:

[0029] Receive target test site information corresponding to the test vehicle transmitted by the cloud platform;

[0030] Transmitting initial actual position information, initial virtual position information, and the vehicle's V2X communication range to the cloud platform; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the target test site corresponding to the target test site information;

[0031] During driving based on the target test site information, V2X message transmission is performed between the cloud platform and the roadside equipment of the target test site to perform remote testing on the test vehicle based on V2X.

[0032] Optionally, the remote testing method includes:

[0033] After completing the test based on the target test site, a site release instruction is sent to the cloud platform so that the cloud platform releases the test binding relationship between the target test site and the test vehicle; wherein, the site release instruction indicates that the test vehicle has completed the test based on the target test site.

[0034] Optionally, the remote testing method includes:

[0035] Sending a site acquisition instruction to the cloud platform;

[0036] receiving a test site information list fed back by the cloud platform in response to the site acquisition instruction; wherein the test site information list includes test site information corresponding to at least one registered test site;

[0037] The site reservation information of the target test site is sent to the cloud platform, so that the cloud platform issues the permission information of the target test site based on the site reservation information; wherein, if the site reservation information does not include items to be approved, the permission information of the target test site is issued to the test vehicle; and / or, if the site reservation information includes items to be approved, the permission information of the target test site is issued to the test vehicle after receiving the approval instruction.

[0038] Optionally, the remote testing method includes:

[0039] During the process of testing the test vehicle based on the target test site, if it is determined that a problem occurs in the test, corresponding problem feedback information is sent to the cloud platform, so that the cloud platform selects a comparison test site with the same V2X message version as the target test site in response to the problem feedback information, and controls the V2X message transmission between the test vehicle and the roadside equipment of the comparison test site to perform a comparison test corresponding to the problem feedback information.

[0040] To achieve the above objectives, in a third aspect, the present application provides a remote testing method, the remote testing method comprising:

[0041] Sending target test site information corresponding to the test vehicle to the test vehicle based on the cloud platform;

[0042] Based on the test vehicle and the target test site information, selecting initial actual position information and initial virtual position information; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle selected at the target test site corresponding to the target test site information;

[0043] Sending the vehicle V2X communication range, the initial actual location information, and the initial virtual location information to the cloud platform based on the test vehicle;

[0044] The cloud platform establishes a position mapping relationship based on the initial actual position information and the initial virtual position information; wherein the position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, the actual position being the position of the test vehicle at the actual driving site, and the virtual position being the position of the test vehicle at the target test site;

[0045] While the test vehicle is driving based on the target test site information, the cloud platform controls the V2X data transmission between the test vehicle and the roadside equipment of the test site corresponding to the target test site information based on the position mapping relationship, the vehicle's V2X communication range and the target test site information, so as to perform remote testing on the test vehicle based on V2X.

[0046] To achieve the above objectives, in a fourth aspect, the present application provides a remote testing device, comprising:

[0047] A first sending module is used to transmit target test site information to the test vehicle;

[0048] a first receiving module, configured to receive initial actual position information, initial virtual position information, and vehicle V2X communication range transmitted by the test vehicle; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the target test site selected by the target test site information;

[0049] a mapping module, configured to establish a position mapping relationship based on the initial actual position information and the initial virtual position information; wherein the position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, wherein the actual position is the position of the test vehicle at the actual driving site, and the virtual position is the position of the test vehicle at the target test site;

[0050] The first test module is used to control the V2X message transmission between the test vehicle and the roadside equipment of the target test site based on the position mapping relationship, the vehicle V2X communication range and the target test site information during the test vehicle's driving based on the target test site information, so as to perform remote testing on the test vehicle based on V2X.

[0051] To achieve the above objectives, in a fifth aspect, the present application further provides a remote testing device, comprising:

[0052] The second receiving module is used to receive the target test site information transmitted by the cloud platform;

[0053] a second sending module, configured to transmit initial actual position information, initial virtual position information, and the vehicle's V2X communication range to the cloud platform; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the target test site selected by the target test site information;

[0054] The second test module is used to transmit V2X messages between the cloud platform and the roadside equipment of the target test site during driving based on the target test site information, so as to perform remote testing of the test vehicle based on V2X.

[0055] To achieve the above objectives, in a sixth aspect, the present application further provides a remote testing system, which includes a cloud platform and a test vehicle:

[0056] The cloud platform is used to send target test site information corresponding to the test vehicle to the test vehicle;

[0057] The test vehicle is configured to select initial actual position information and initial virtual position information based on the target test site information; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information selected by the test vehicle at the target test site corresponding to the target test site information;

[0058] The test vehicle is further configured to send the vehicle V2X communication range, the initial actual location information, and the initial virtual location information to the cloud platform;

[0059] The cloud platform is further configured to establish a position mapping relationship based on the initial actual position information and the initial virtual position information; wherein the position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, wherein the actual position is the position of the test vehicle at the actual driving site, and the virtual position is the position of the test vehicle at the target test site;

[0060] The cloud platform is also used to control the V2X data transmission between the test vehicle and the roadside equipment of the test site corresponding to the target test site information based on the position mapping relationship, the vehicle V2X communication range and the target test site information during the test vehicle's driving based on the target test site information, so as to perform remote testing on the test vehicle based on V2X.

[0061] To achieve the above objectives, in a seventh aspect, the present application further provides a device, comprising: a processor and a memory, wherein the processor is configured to execute a control program stored in the memory to implement:

[0062] A remote testing method as described in any one of the first aspects; or

[0063] A remote testing method as described in any one of the second aspects.

[0064] To achieve the above objectives, in an eighth aspect, the present application further provides a storage medium, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement:

[0065] A remote testing method as described in any one of the first aspects; or

[0066] A remote testing method as described in any one of the second aspects.

[0067] Beneficial effects of this application:

[0068] In this application, after the test vehicle obtains the corresponding target test site information, relevant personnel can select the initial actual position of the test vehicle in the actual driving site based on the above target test site information, and select the initial virtual position of the test vehicle in the target test site based on the target test site information. The cloud platform can then establish a mapping relationship between the actual position and the virtual position based on the initial actual position information and the initial virtual position information. Then, relevant personnel can control the test vehicle to drive in the actual driving site based on the target test site information. The cloud platform can control the V2X message transmission between the test vehicle and the test equipment at the target test site based on the above mapping relationship and the vehicle's V2X communication range to achieve remote testing of the test vehicle based on V2X. This method can achieve V2X-based testing without actually transporting the test vehicle to the target test site, which facilitates V2X-based testing. It can not only improve the utilization rate of the test site, but also reduce testing costs, enhance the V2X-based testing experience, and facilitate the promotion and application of V2X technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 A flowchart of a remote testing method provided by an embodiment of the present application is shown;

[0070] Figure 2 A flowchart illustrating another remote testing method provided in an embodiment of the present application is shown;

[0071] Figure 3 A schematic diagram illustrating a site area of a target test site in another remote testing method provided by an embodiment of the present application;

[0072] Figure 4 A schematic diagram of the structure of a remote testing device provided in an embodiment of the present application is shown;

[0073] Figure 5 A schematic diagram showing the structure of another remote testing device provided in an embodiment of the present application is shown;

[0074] Figure 6 A schematic structural diagram of a device provided in an embodiment of the present application is shown.

[0075] in:

[0076] 10. First sending module; 20. First receiving module; 30. Mapping module; 40. First testing module; 50. Second receiving module; 60. Second sending module; 70. Second testing module;

[0077] 100. Device; 101. Processor; 102. Memory; 1021. Operating system; 1022. Application; 103. User interface; 104. Network interface; 105. Bus system. DETAILED DESCRIPTION

[0078] The following will describe the embodiments of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for the purpose of illustrating the present application and are not intended to limit the scope of protection of the present application.

[0079] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0080] In this application, after the test vehicle obtains the corresponding target test site information, relevant personnel can select the initial actual position of the test vehicle in the actual driving site based on the above target test site information, and select the initial virtual position of the test vehicle in the target test site based on the target test site information. The cloud platform can then establish a mapping relationship between the actual position and the virtual position based on the initial actual position information and the initial virtual position information. Then, relevant personnel can control the test vehicle to drive in the actual driving site based on the target test site information. The cloud platform can control the V2X message transmission between the test vehicle and the test equipment at the target test site based on the above mapping relationship and the vehicle's V2X communication range to achieve remote testing of the test vehicle based on the target test site. This method can achieve V2X-based testing without actually transporting the test vehicle to the target test site, which facilitates V2X-based testing. It can not only improve the utilization rate of the test site, but also reduce testing costs, enhance the V2X-based testing experience, and facilitate the promotion and application of V2X technology.

[0081] To facilitate understanding of the embodiments of the present application, further explanation will be given below with reference to specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation on the embodiments of the present application.

[0082] This embodiment provides a remote testing method that can be applied to a remote testing system. The remote testing system may include a cloud platform and a test vehicle. The test vehicle may be a vehicle with networking, vehicle-road collaboration, and HMI (human-machine interface) display capabilities. The cloud platform may be a server device that communicates with the test vehicle and roadside equipment at the test site through a cellular network. The test site may include a site with networking, vehicle-road collaboration, and roadside equipment. Figure 1 and Figure 2 As shown, the method may include:

[0083] S110. Sending target test site information corresponding to the test vehicle to the test vehicle based on the cloud platform;

[0084] S120: Based on the test vehicle and target test site information, select initial actual position information and initial virtual position information; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the target test site corresponding to the target test site information;

[0085] S130, sending the vehicle V2X communication range, initial actual location information, and initial virtual location information to the cloud platform based on the test vehicle;

[0086] S140. The cloud platform establishes a position mapping relationship based on the initial actual position information and the initial virtual position information. The position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, where the actual position is the position of the test vehicle at the actual driving site, and the virtual position is the position of the test vehicle at the target test site.

[0087] S150. While the test vehicle is driving based on the target test site information, the cloud platform controls the V2X data transmission between the test vehicle and the roadside equipment of the test site corresponding to the target test site information based on the location mapping relationship, the vehicle's V2X communication range, and the target test site information, so as to perform remote testing on the test vehicle based on V2X.

[0088] In step S110, the cloud platform may be used to maintain a V2X test site information list. The test site information list may include at least one registered test site information. Personnel involved in the V2X test site may first register the test site information with the cloud platform, thereby adding the test site information to the test site information list.

[0089] When registering a test site, the test site must provide sufficient information to the cloud platform. This information may include the site area and site equipment information. The site area can be a square area encompassing all testable road sections, used for displaying the test site to the test vehicle and selecting the initial position. Site equipment information may include the location of all roadside devices, the corresponding device V2X communication range, and the corresponding V2X message version.

[0090] Additionally, test site information may include site fees, which can include site usage fees, data usage fees, and service fees. Service fees may include site setup, supporting personnel, and supporting vehicles. It should be noted that the test site manager may determine the services provided and fees charged based on the site's conditions and nature. For example, if an open site does not meet the service requirements, no services may be provided, no service fees may be charged, and only a data usage fee may be charged.

[0091] Specifically, personnel can send a site acquisition command to the cloud platform from the test vehicle. That is, when V2X testing is required using the test vehicle, personnel can control the test vehicle to send a site acquisition command to the cloud platform. This command is used to retrieve a list of test site information maintained by the cloud platform. Upon receiving this command, the cloud platform transmits the list of test site information to the test vehicle. This list of test site information can include test site information corresponding to at least one registered test site.

[0092] After the test vehicle receives the list of test sites, it will display the list on the screen. The tester can then select the desired test site and make a reservation. The reservation interface for the test site will also display the available time slots for the test site.

[0093] The test site that the personnel reserve based on the test site list displayed by the test vehicle can be recorded as the target test site. Once the personnel select the target test site, the test vehicle sends the reservation information for the target test site to the cloud platform based on the personnel's selection. The reservation information can include the reserved test time period and services, and payment of the relevant fees.

[0094] Among them, after the cloud platform receives the site reservation information, it can issue the permission information of the target test site reserved by the test vehicle based on the site reservation information. Among them, if the site reservation information does not include items awaiting approval (such as services), the cloud platform can directly issue the permission information of the target test site to the test vehicle. If the site reservation information includes items awaiting approval, the permission information of the target test site can only be issued to the test vehicle after the cloud platform receives the approval instruction. In addition, the relevant personnel of the target test site can make arrangements for the site layout and the configuration of service items such as service personnel and vehicles before the reservation time period to ensure the smooth progress of the test.

[0095] In some embodiments, when making a reservation for a test site, the reservation information may include items (such as services) that require manual approval by relevant personnel. If the site reservation information does not include items that require manual approval, the cloud platform can directly issue permission information to the test vehicle after receiving the site reservation information. If the site reservation information includes items that require manual approval, the relevant personnel of the target test site need to review and approve it based on the cloud platform. After the approval is passed, the cloud platform can receive the approval instruction, and then the cloud platform can issue the corresponding permission information to the test vehicle. The setting of manual approval can avoid the mutual influence caused by too many test vehicles accessing the same test site during testing.

[0096] It should be noted that relevant personnel can reserve more than one test site based on the test vehicle, or they can reserve a single test site, without limitation. Reserved test sites can be distinguished based on information such as the reserved test time period and the test site name, to ensure that the test vehicle can undergo remote testing at the target test site corresponding to the corresponding name during its reserved test time period.

[0097] After a test vehicle completes its test site reservation, the reserved test site is recorded as the target test site. When the test vehicle needs to be tested at the reserved target test site during the reserved test time period, the relevant personnel can send the target test site's permission information to the cloud platform based on the test vehicle. After receiving the permission information, the cloud platform will verify the permission. Once the cloud platform determines that the test vehicle has passed the permission based on the permission information, it will send the corresponding target test site information to the test vehicle.

[0098] In some embodiments, when the cloud platform sends the target test site information, the cloud platform may determine the target test site information corresponding to the permission information from the at least one test site information reserved by the test vehicle based on the permission information.

[0099] In some embodiments, when the cloud platform sends the target test site information, the cloud platform may also determine the test time period to which the current moment belongs from the test time period of at least one test site information reserved by the test vehicle based on the current moment, and then send the test site information to which the determined test time period belongs as the target test site information to the test vehicle.

[0100] It should be noted that, in addition to the above-mentioned method, the determination and issuance of the target test site information can also be achieved through other methods, which are not limited.

[0101] In step S120, after the cloud platform sends the target test site information to the test vehicle, the test vehicle can display the site area corresponding to the target test site information on the test vehicle screen. For example, the test vehicle's HMI (human-machine interface) can display a map of the site area, such as Figure 3 As shown, the inner box represents the target test site area, where personnel can select the test vehicle's initial position at the target test site. This initial position can be recorded as the initial virtual position. The location information of the initial virtual position can be recorded as the initial virtual position information. In other words, the initial virtual position is the test vehicle's initial position information selected at the test site corresponding to the target test site information.

[0102] Additionally, the site map may display the locations of the roadside equipment within the target test site (e.g., Roadside Equipment A and Roadside Equipment B in the figure). If the target test site information includes service information such as cooperating personnel and vehicles, the site map may also display the contact information of the cooperating personnel and the location of the cooperating vehicles, without limitation.

[0103] Among them, relevant personnel can select a nearby open space or a closed road section with similar terrain (such as the test scenario section is to go straight for 50 meters and turn right) as the actual driving site of the test vehicle based on the map of the test site displayed by the test vehicle, and drive the test vehicle to the required initial position. This initial position can be recorded as the initial actual position. The location information of the initial actual position can be recorded as the initial actual position information. In other words, the initial actual position information is the initial position information of the test vehicle in the actual driving site.

[0104] In step S130, after the relevant personnel determine the initial actual location and initial virtual location based on the test vehicle, the test vehicle can upload these initial actual location information and initial virtual location information to the cloud platform, so that the cloud platform can receive them. In addition, the test vehicle can also upload the vehicle's V2X communication range to the cloud platform, so that the cloud platform can receive this vehicle's V2X communication range. Subsequently, the cloud platform can control the remote testing of the test vehicle based on these initial actual location information, initial virtual location information, and vehicle's V2X communication range.

[0105] In step S140, after receiving the initial actual location information and the initial virtual location information, the cloud platform establishes a location mapping relationship between the actual location and the virtual location of the test vehicle based on the initial actual location information and the initial virtual location information. As the test vehicle travels through the actual driving range, the cloud platform uses this location mapping relationship to determine the test vehicle's corresponding virtual location at the target testing range in real time, facilitating remote testing.

[0106] In step S150, while the test vehicle is driving based on the test site information, the cloud platform can determine the test vehicle's virtual location corresponding to the target test site in real time based on the location mapping relationship. Furthermore, after determining the real-time virtual location, the cloud platform can determine the roadside equipment with which the test vehicle can communicate at that virtual location based on the vehicle V2X communication range uploaded by the test vehicle and the device V2X communication range of the roadside equipment at the target test site. The cloud platform then controls the transmission of V2X messages between the test vehicle and the roadside equipment. In other words, the cloud platform can serve as a V2X message transmission hub, enabling V2X message transmission between the test vehicle and the corresponding roadside equipment, thereby realizing remote testing of the test vehicle.

[0107] The test vehicle can upload its actual location information to the cloud platform at a specified frequency. The specified frequency can be set based on actual conditions, and the specific value is not limited. Actual location information can be uploaded to the cloud platform via V2X messages or other means, without limitation.

[0108] In some embodiments, when determining a real-time virtual location based on a location mapping relationship, the actual driving trajectory of the test vehicle can be obtained using an algorithm that calculates angles and distances based on two actual location information uploaded by the test vehicle (e.g., the first actual location information and the second actual location information). For example, it can be determined that the test vehicle traveled M meters in a direction N. Then, based on the location mapping relationship and the first virtual location information (e.g., the longitude and latitude information) corresponding to the first actual location information, the longitude and latitude information of the new virtual location can be obtained, that is, the new virtual location information is obtained.

[0109] When the cloud platform controls the transmission of V2X messages between the test vehicle and the roadside equipment at the target test site, if the test vehicle's virtual location mapped to the target test site is within the V2X communication range of the roadside equipment at the target test site, the cloud platform can send the V2X messages uploaded by the roadside equipment (referred to as V2X test site-side data) to the test vehicle. If the roadside equipment at the target test site is within the V2X communication range of the test vehicle at the virtual location, the cloud platform can transmit the V2X messages uploaded by the test vehicle (referred to as V2X vehicle-side data) to the corresponding roadside equipment.

[0110] It should be noted that because the test vehicle is not actually at the target test site, the corresponding information in the V2X message transmitted by the test vehicle can be directly used to replace the vehicle information (such as speed, vehicle shape, etc.) that should be recognized by the roadside equipment (such as cameras and radars, etc.) without affecting the test results, and the reliability of the test can be guaranteed.

[0111] In some embodiments,

[0112] Based on the target test site information, relevant personnel can control the test vehicle's operation within the actual driving site. During the test vehicle's operation, the test vehicle can upload V2X messages (referred to as V2X vehicle-side data) to the cloud platform at a certain frequency. This certain frequency can be set based on actual conditions, and its specific value is not limited.

[0113] After receiving the V2X vehicle-side data uploaded by the test vehicle, the cloud platform determines the test vehicle's current virtual location mapped at the target test site based on the current actual location information in the V2X vehicle-side data and the location mapping relationship. The current actual location information is the test vehicle's current location at the actual driving site. The current virtual location information is the test vehicle's current virtual location mapped at the target test site. The location represented by the current virtual location information is recorded as the current virtual location.

[0114] In this implementation, the target receiving roadside devices (RSDs) within the V2X communication range of the vehicle at the current virtual location in the target test site can be determined as target receiving RSDs. That is, when the test vehicle is at the current virtual location, the target receiving RSDs are within the V2X communication range of the vehicle.

[0115] After the cloud platform receives the V2X vehicle-side data transmitted by the test vehicle and determines the target receiving roadside device, it can transmit the above V2X vehicle-side data to the target receiving roadside device to achieve the effect of the test vehicle transmitting V2X messages to the roadside device at the target test site.

[0116] In this implementation, the target test site information may include the V2X communication range of roadside devices within the target test site. Once the cloud platform determines the current virtual location, it can identify a roadside device whose V2X communication range includes the current virtual location as the target transmitting roadside device. In other words, if the roadside device's V2X communication range includes the current virtual location, that roadside device can be identified as the target transmitting roadside device.

[0117] The cloud platform can transmit V2X test site-side data received from the target transmitting roadside device to the test vehicle. In other words, after receiving V2X test site-side data from the target transmitting roadside device, the cloud platform can forward the V2X test site-side data to the test vehicle, achieving the effect of transmitting V2X messages from the target test site roadside device to the test vehicle.

[0118] In this implementation, the cloud platform acts as a transfer station for V2X messages, enabling V2X message transmission between the test vehicle and the corresponding roadside equipment, thereby realizing remote testing based on V2X.

[0119] In this method, after the test vehicle obtains the corresponding target test site information, relevant personnel can select the initial actual position of the test vehicle in the actual driving site based on the above target test site information, and select the initial virtual position of the test vehicle in the target test site based on the target test site information. The cloud platform can establish a mapping relationship between the actual position and the virtual position based on the initial actual position information and the initial virtual position information. Then, the relevant personnel can control the test vehicle to drive in the actual driving site based on the target test site information. The cloud platform can control the V2X message transmission between the test vehicle and the test equipment of the target test site based on the above mapping relationship, the vehicle V2X communication range and the target test site information, so as to realize remote testing of the test vehicle based on the target test site.

[0120] This method can realize V2X-based testing without actually transporting the test vehicle to the target test site, which facilitates V2X-based testing. It can not only improve the utilization rate of the test site, but also reduce testing costs, enhance the V2X-based testing experience, and facilitate the promotion and application of V2X technology.

[0121] For test sites, this approach can address issues like low site utilization and the inconvenience and difficulty opening closed sites. For vehicles, this approach can address the cost associated with site distances and, through multi-site testing, address bugs and misinterpretations of specifications that might not be discovered during simulation testing.

[0122] This embodiment provides a remote testing method applicable to a remote testing system, which may include a cloud platform and a test vehicle. In this method, during testing of a test vehicle at a target test site, if the test vehicle determines that a problem has occurred, it can send corresponding problem feedback information to the cloud platform. This problem feedback information may include information such as the identification of the problem and the type of problem, without limitation.

[0123] The test vehicle can pre-store a variety of different question types and corresponding identification information. These pre-stored question types and identification information can be configured based on actual needs, and their specific content is not limited. For example, relevant personnel can configure the above question types and related identification information based on experience.

[0124] After receiving the problem feedback information, the cloud platform can respond to the problem feedback information and select a test site with the same V2X message version as the target test site from the available test sites as a comparison test site. The comparison test site belongs to the test site information in the test site information list.

[0125] After the cloud platform selects the comparison test site, it can control the V2X message transmission between the test vehicle and the roadside equipment at the comparison test site to conduct a comparison test corresponding to the problem feedback information, that is, to conduct a comparison test on the problem represented by the problem feedback information.

[0126] It should be noted that when testing a test vehicle based on a comparison test site, the specific testing method can refer to the testing of a test vehicle based on a target test site, and will not be described in detail. This may include determining the location mapping relationship and transmitting V2X messages, etc.

[0127] After the comparative test is complete, the relevant personnel can use the results to determine the root cause of the problem. If the issue lies with the target test site, the fees will be paid to the comparative test site on a pro-rated basis, and the relevant personnel can choose to continue testing at the comparative test site. Furthermore, the cloud platform will only accept the testing fees for the untested portion and new test reservations after the issue at the target test site has been resolved. If the issue does not lie with the target test site, testing can resume at the target test site after the issue has been resolved.

[0128] Furthermore, in this method, after the test vehicle completes testing at the target test site, it can send a site release command for the target test site to the cloud platform. This site release command indicates that the test vehicle has completed testing at the target test site. Upon receiving this site release command, the cloud platform can release the test binding relationship between the target test site and the test vehicle. In other words, the test vehicle is no longer within the permitted range of the target test site, and the test vehicle no longer contains permission information for the target test site.

[0129] This approach enables test site management and vehicle-side remote testing through a cloud platform. On the site side, it addresses issues such as poor site maintenance and delayed feedback due to limited management costs. On the vehicle side, it addresses issues such as a lack of channels for responding to site issues or slow response times.

[0130] This method can realize V2X-based testing without actually transporting the test vehicle to the target test site, which facilitates V2X-based testing. It can not only improve the utilization rate of the test site, but also reduce testing costs, enhance the V2X-based testing experience, and facilitate the promotion and application of V2X technology.

[0131] This embodiment provides a remote testing device that can be applied to a cloud platform. The device can be used to implement the steps performed by the cloud platform in the above method. For example, refer to Figure 4 As shown, the device includes:

[0132] A first sending module 10 is used to transmit target test site information to the test vehicle;

[0133] A first receiving module 20 is configured to receive initial actual position information, initial virtual position information, and vehicle V2X communication range transmitted by the test vehicle; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the test site selected corresponding to the target test site information;

[0134] A mapping module 30 is configured to establish a position mapping relationship between the actual position and the virtual position of the test vehicle based on the initial actual position information and the initial virtual position information;

[0135] The first test module 40 is used to control the V2X message transmission between the test vehicle and the roadside equipment of the target test site based on the position mapping relationship, the vehicle V2X communication range and the target test site information during the test vehicle's driving based on the test site information; wherein the target test site is the test site corresponding to the target test site information.

[0136] This embodiment provides a remote testing device that can be applied to a cloud platform. Figure 4 As shown, in this device,

[0137] A first receiving module 20 is configured to receive V2X vehicle-side data transmitted by a test vehicle;

[0138] The first testing module 40 is used to:

[0139] Determine the current virtual location of the test vehicle at the target test site based on the location mapping relationship and the current actual location information in the V2X vehicle-side data;

[0140] Determine the roadside equipment within the V2X communication range of the vehicle at the current virtual position in the target test site as the target receiving roadside equipment; wherein the current virtual position is the position represented by the current virtual position information;

[0141] The first sending module 10 is used to transmit V2X vehicle-side data to the target receiving roadside equipment;

[0142] The first testing module 40 is configured to determine a roadside device in a target test site whose V2X communication range includes the current virtual location as a target transmitting roadside device;

[0143] The first sending module 10 is used to transmit the V2X test site data received from the target roadside equipment to the test vehicle;

[0144] This embodiment provides a remote testing device that can be applied to a cloud platform. Figure 4As shown, in this device,

[0145] The first testing module 40 is configured to release the test binding relationship between the target test site and the test vehicle upon receiving a site release instruction, wherein the site release instruction indicates that the test vehicle has completed the test based on the target test site.

[0146] This embodiment provides a remote testing device that can be applied to a cloud platform. Figure 4 As shown, in this device,

[0147] A first sending module 10 is configured to transmit a test site information list to the test vehicle based on the received site acquisition instruction; wherein the test site information list includes test site information corresponding to at least one registered test site;

[0148] A first receiving module 20 is configured to receive site reservation information of a target test site transmitted by a test vehicle;

[0149] The first sending module 10 is configured to send permission information of the target test site to the test vehicle if the site reservation information does not include any items to be approved; and / or, if the site reservation information includes any items to be approved, send permission information of the target test site to the test vehicle after receiving an approval instruction.

[0150] This embodiment provides a remote testing device that can be applied to a cloud platform. Figure 4 As shown, in the device, the first sending module 10 is used to determine whether the test vehicle is allowed to pass before transmitting the target test site information to the test vehicle.

[0151] This embodiment provides a remote testing device that can be applied to a cloud platform. Figure 4 As shown, in this device,

[0152] A first testing module 40 is configured to select a comparison test site having the same V2X message version as the target test site if problem feedback information is received from the test vehicle during testing of the test vehicle based on the target test site;

[0153] It is also used to control the V2X message transmission between the test vehicle and the roadside equipment at the comparison test site to conduct comparative tests corresponding to problem feedback information.

[0154] This embodiment provides a remote testing device that can be used to test a vehicle. The device can be used to implement the steps performed by the test vehicle in the above method. For example, referring to Figure 5 As shown, the device includes:

[0155] The second receiving module 50 is used to receive the target test site information transmitted by the cloud platform;

[0156] A second transmitting module 60 is configured to transmit initial actual position information, initial virtual position information, and the vehicle's V2X communication range to a cloud platform; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the test site selected corresponding to the target test site information;

[0157] The second test module 70 is used to perform V2X message transmission between the cloud platform and the roadside equipment of the target test site during driving based on the target test site information to perform remote testing; wherein the target test site is the test site corresponding to the target test site information.

[0158] This embodiment provides a remote testing device that can be used to test vehicles. Figure 5 As shown, in this device,

[0159] The second sending module 60 is used to send a site release instruction to the cloud platform after completing the test based on the target test site, so that the cloud platform can release the test binding relationship between the target test site and the test vehicle; wherein, the site release instruction indicates that the test vehicle has completed the test based on the target test site.

[0160] This embodiment provides a remote testing device that can be used to test vehicles. Figure 5 As shown, in this device,

[0161] The second sending module 60 is used to send a site acquisition instruction to the cloud platform;

[0162] A second receiving module 50 is configured to receive a test site information list fed back by the cloud platform in response to the site acquisition instruction; wherein the test site information list includes test site information corresponding to at least one registered test site;

[0163] The second sending module 60 is used to send the site reservation information of the target test site to the cloud platform, so that the cloud platform can issue the permission information of the target test site based on the site reservation information; wherein, if the site reservation information does not include any items to be approved, the permission information of the target test site is issued to the test vehicle; and / or if the site reservation information includes any items to be approved, the permission information of the target test site is issued to the test vehicle after receiving the approval instruction.

[0164] This embodiment provides a remote testing device that can be used to test vehicles. Figure 5 As shown, in this device,

[0165] The second sending module 60 is used to send corresponding problem feedback information to the cloud platform if it is determined that a problem occurs during the test of the test vehicle based on the target test site, so that the cloud platform selects a comparison test site with the same V2X message version as the target test site in response to the problem feedback information, and controls the V2X message transmission between the test vehicle and the roadside equipment of the comparison test site to perform a comparison test corresponding to the problem feedback information.

[0166] This embodiment provides a remote testing system. Figure 2 As shown, the remote testing system includes a cloud platform and a test vehicle, which are used to implement the above remote testing method.

[0167] The cloud platform is used to send the target test site information corresponding to the test vehicle to the test vehicle;

[0168] The test vehicle is configured to select initial actual position information and initial virtual position information based on the target test site information; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle selected at the test site corresponding to the target test site information;

[0169] The test vehicle is also used to send the vehicle's V2X communication range, initial actual location information, and initial virtual location information to the cloud platform;

[0170] The cloud platform is further used to establish a position mapping relationship between the actual position and the virtual position of the test vehicle based on the initial actual position information and the initial virtual position information;

[0171] The cloud platform is also used to control the V2X data transmission between the test vehicle and the roadside equipment at the test site corresponding to the target test site information based on the location mapping relationship, the vehicle's V2X communication range and the target test site information during the test vehicle's driving based on the target test site information, so as to conduct remote testing.

[0172] For example, reference Figure 2 As shown, in the process of implementing the above remote testing method, the system

[0173] S210. The cloud platform sends target test site information to the test vehicle.

[0174] S220, selecting initial actual position information and initial virtual position information based on the target test site information;

[0175] S230: The test vehicle sends the vehicle's V2X communication range, initial actual location information, and initial virtual location information to the cloud platform.

[0176] S240, the cloud platform establishes a location mapping relationship based on the initial actual location information and the initial virtual location information;

[0177] S250: The cloud platform controls V2X data transmission between the test vehicle and the roadside equipment of the test site corresponding to the target test site information based on the location mapping relationship, the vehicle V2X communication range, and the target test site information.

[0178] As a result, the system can realize remote testing at the target test site based on the cloud platform, thereby realizing remote testing of the test vehicle based on V2X.

[0179] This embodiment provides a device. The device can be a cloud platform or a vehicle, without limitation. When the device is a cloud platform, it can be used to implement the aforementioned remote testing method for a cloud platform; when the device is a vehicle, it can be used to implement the aforementioned remote testing method for testing a vehicle.

[0180] refer to Figure 6 As shown, the device 100 may include: at least one processor 101, a memory 102, at least one network interface 104, and another user interface 103. The various components in the device 100 are coupled together via a bus system 105. It will be appreciated that the bus system 105 is used to enable communication between these components. In addition to a data bus, the bus system 105 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all of these buses will be labeled as the bus system 105.

[0181] The user interface 103 may include a display, a keyboard, or a pointing device (eg, a mouse, a trackball, a touchpad, or a touch screen).

[0182] It is understood that the memory 102 in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 102 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0183] In some embodiments, the memory 102 stores the following elements, executable units, or data structures, or a subset thereof, or an extended set thereof: an operating system 1021 and application programs 1022 .

[0184] Among them, the operating system 1021 includes various system programs, such as the framework layer, the core library layer, and the driver layer, which are used to implement various basic services and process hardware-based tasks. The application 1022 includes various application programs, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. The program implementing the method of the embodiment of the application can be included in the application 1022.

[0185] In the embodiment of the present application, the processor 101 is used to execute the methods provided in each method embodiment by calling the program or instructions stored in the memory 102, specifically, the program or instructions stored in the application 1022.

[0186] The methods disclosed in the above embodiments of the present application can be applied to or implemented by processor 101. Processor 101 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in processor 101 or by software instructions. The above processor 101 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software units in the decoding processor. The software units can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory 102 , and the processor 101 reads the information in the memory 102 and implements the above method in combination with its hardware.

[0187] It is understood that the embodiments described herein may be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or at least one application-specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field-programmable gate array (FPGA), general-purpose processor, controller, microcontroller, microprocessor, other electronic units for performing the functions described herein, or a combination thereof.

[0188] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0189] The present application also provides a storage medium (computer-readable storage medium). The storage medium stores one or at least one program. The storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; and the memory may also include a combination of the aforementioned types of memory.

[0190] When one or at least one program in a storage medium is executable by one or at least one processor, the storage medium, when applied to a device, can implement the aforementioned method of execution on the device. The processor is configured to execute the device control program stored in the memory to implement the aforementioned method of execution on the device.

[0191] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0192] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiments may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0193] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or vehicle that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or vehicle. In the absence of more limitations, an element defined by the sentence "comprises a..." does not exclude the presence of additional identical elements in the process, method, article or vehicle that includes the element.

[0194] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art based on the present application are within the protection scope of the present application.

Claims

1. A remote testing method, characterized in that: The remote testing method includes: transmitting target test site information corresponding to the test vehicle to the test vehicle; Receiving initial actual position information, initial virtual position information, and vehicle V2X communication range transmitted by the test vehicle; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle selected at the target test site corresponding to the target test site information; Establishing a position mapping relationship based on the initial actual position information and the initial virtual position information; wherein the position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, the actual position being the position of the test vehicle at the actual driving site, and the virtual position being the position of the test vehicle at the target test site; While the test vehicle is driving based on the target test site information, V2X message transmission between the test vehicle and the roadside equipment of the target test site is controlled based on the position mapping relationship, the vehicle V2X communication range and the target test site information, so as to perform remote testing on the test vehicle based on V2X.

2. The remote testing method according to claim 1, characterized in that: The controlling the V2X message transmission between the test vehicle and the roadside equipment of the target test site based on the position mapping relationship, the vehicle V2X communication range, and the test site information includes: Receiving V2X vehicle-side data transmitted by the test vehicle; Determining the current virtual position information of the test vehicle at the target test site based on the position mapping relationship and the current actual position information in the V2X vehicle-side data; Determining a roadside device within the V2X communication range of the vehicle at a current virtual position in the target test site as a target receiving roadside device; wherein the current virtual position is a position represented by the current virtual position information; Transmitting the V2X vehicle-side data to the target receiving roadside device; Determine a roadside device in the target test site whose V2X communication range includes the current virtual location as a target sending roadside device; The V2X test site end data received from the target sending roadside equipment is transmitted to the test vehicle.

3. The remote testing method according to claim 1, characterized in that: The remote testing method includes: If a site release instruction is received, the test binding relationship between the target test site and the test vehicle is released; wherein the site release instruction indicates that the test vehicle has completed the test based on the target test site.

4. The remote testing method according to claim 1, wherein: The remote testing method includes: Based on the received site acquisition instruction, transmit a test site information list to the test vehicle; wherein the test site information list includes test site information corresponding to at least one registered test site; receiving site reservation information of the target test site transmitted by the test vehicle; If the site reservation information does not include any items to be approved, permission information for the target test site is issued to the test vehicle; and / or if the site reservation information includes any items to be approved, permission information for the target test site is issued to the test vehicle after receiving an approval instruction.

5. The remote testing method according to claim 4, characterized in that: Before transmitting the target test site information to the test vehicle, the remote testing method includes: A pass permission for the test vehicle is determined.

6. The remote testing method according to any one of claims 1 to 5, characterized in that: The remote testing method includes: During the test of the test vehicle based on the target test site, if problem feedback information sent by the test vehicle is received, selecting a comparison test site with the same V2X message version as the target test site; Controlling V2X message transmission between the test vehicle and the roadside equipment at the comparison test site to perform a comparison test corresponding to the problem feedback information.

7. A remote testing method, characterized in that: The remote testing method includes: Receive target test site information corresponding to the test vehicle transmitted by the cloud platform; Transmitting initial actual position information, initial virtual position information, and the vehicle's V2X communication range to the cloud platform; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the target test site corresponding to the target test site information; During driving based on the target test site information, V2X message transmission is performed between the cloud platform and the roadside equipment of the target test site to perform remote testing on the test vehicle based on V2X.

8. The remote testing method according to claim 7, characterized in that: The remote testing method includes: After completing the test based on the target test site, a site release instruction is sent to the cloud platform so that the cloud platform releases the test binding relationship between the target test site and the test vehicle; wherein, the site release instruction indicates that the test vehicle has completed the test based on the target test site.

9. The remote testing method according to claim 7, characterized in that: The remote testing method includes: Sending a site acquisition instruction to the cloud platform; receiving a test site information list fed back by the cloud platform in response to the site acquisition instruction; wherein the test site information list includes test site information corresponding to at least one registered test site; The site reservation information of the target test site is sent to the cloud platform, so that the cloud platform issues the permission information of the target test site based on the site reservation information; wherein, if the site reservation information does not include items to be approved, the permission information of the target test site is issued to the test vehicle; and / or, if the site reservation information includes items to be approved, the permission information of the target test site is issued to the test vehicle after receiving the approval instruction.

10. The remote testing method according to any one of claims 7 to 9, characterized in that: The remote testing method includes: During the process of testing the test vehicle based on the target test site, if it is determined that a problem occurs in the test, corresponding problem feedback information is sent to the cloud platform, so that the cloud platform selects a comparison test site with the same V2X message version as the target test site in response to the problem feedback information, and controls the V2X message transmission between the test vehicle and the roadside equipment of the comparison test site to perform a comparison test corresponding to the problem feedback information.

11. A remote testing method, characterized in that: The remote testing method includes: Sending target test site information corresponding to the test vehicle to the test vehicle based on the cloud platform; Based on the test vehicle and the target test site information, selecting initial actual position information and initial virtual position information; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle selected at the target test site corresponding to the target test site information; Sending the vehicle V2X communication range, the initial actual location information, and the initial virtual location information to the cloud platform based on the test vehicle; The cloud platform establishes a position mapping relationship based on the initial actual position information and the initial virtual position information; wherein the position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, the actual position being the position of the test vehicle at the actual driving site, and the virtual position being the position of the test vehicle at the target test site; While the test vehicle is driving based on the target test site information, the cloud platform controls the V2X data transmission between the test vehicle and the roadside equipment of the test site corresponding to the target test site information based on the position mapping relationship, the vehicle's V2X communication range and the target test site information, so as to perform remote testing on the test vehicle based on V2X.

12. A remote testing device, characterized in that: The remote testing device comprises: A first sending module is used to transmit target test site information to the test vehicle; a first receiving module, configured to receive initial actual position information, initial virtual position information, and vehicle V2X communication range transmitted by the test vehicle; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the target test site selected by the target test site information; a mapping module, configured to establish a position mapping relationship based on the initial actual position information and the initial virtual position information; wherein the position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, wherein the actual position is the position of the test vehicle at the actual driving site, and the virtual position is the position of the test vehicle at the target test site; The first test module is used to control the V2X message transmission between the test vehicle and the roadside equipment of the target test site based on the position mapping relationship, the vehicle V2X communication range and the target test site information during the test vehicle's driving based on the target test site information, so as to perform remote testing on the test vehicle based on V2X.

13. A remote testing device, characterized in that: The remote testing device comprises: The second receiving module is used to receive the target test site information transmitted by the cloud platform; a second sending module, configured to transmit initial actual position information, initial virtual position information, and the vehicle's V2X communication range to the cloud platform; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information of the test vehicle at the target test site selected by the target test site information; The second test module is used to transmit V2X messages between the cloud platform and the roadside equipment of the target test site during driving based on the target test site information, so as to perform remote testing of the test vehicle based on V2X.

14. A remote testing system, characterized in that: The remote testing system includes a cloud platform and a test vehicle: The cloud platform is used to send target test site information corresponding to the test vehicle to the test vehicle; The test vehicle is configured to select initial actual position information and initial virtual position information based on the target test site information; wherein the initial actual position information is the initial position information of the test vehicle at the actual driving site, and the initial virtual position is the initial position information selected by the test vehicle at the target test site corresponding to the target test site information; The test vehicle is further configured to send the vehicle V2X communication range, the initial actual location information, and the initial virtual location information to the cloud platform; The cloud platform is further configured to establish a position mapping relationship based on the initial actual position information and the initial virtual position information; wherein the position mapping relationship represents a mapping relationship between the actual position and the virtual position of the test vehicle, wherein the actual position is the position of the test vehicle at the actual driving site, and the virtual position is the position of the test vehicle at the target test site; The cloud platform is also used to control the V2X data transmission between the test vehicle and the roadside equipment of the test site corresponding to the target test site information based on the position mapping relationship, the vehicle V2X communication range and the target test site information during the test vehicle's driving based on the target test site information, so as to perform remote testing on the test vehicle based on V2X.

15. A device, characterized in that include: A processor and a memory, wherein the processor is configured to execute a control program stored in the memory to implement: The remote testing method according to any one of claims 1 to 6; or A remote testing method as claimed in any one of claims 7 to 10.

16. A storage medium, characterized in that The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement: The remote testing method according to any one of claims 1 to 6; or A remote testing method as claimed in any one of claims 7 to 10.

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