Internet of vehicles hardware-in-the-loop test method and device
By building virtual road scenarios and channel models, simulating the real-world communication environment, the accuracy and safety issues of Internet of Vehicles hardware in ring testing are solved, and efficient testing is achieved in laboratory environments.
Patent Information
- Application Number
- CN202510580989.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-06
- Publication Date
- 2025-08-08
AI Technical Summary
In the prior art, the in-ring test of Internet of Vehicles hardware cannot accurately evaluate the communication environment in the real world, resulting in inaccurate test results and even security risks.
Build a virtual road scenario, emit rays and obtain channel parameters, establish a channel model, combine RF instruments to perform vehicle network hardware in-ring testing, and simulate the real-world communication environment.
It improves the accuracy and safety of vehicle network equipment testing, saves labor costs, accurately reproduces specific scenarios and achieves accurate positioning of problems.
Smart Images
Figure CN120454904A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle networking technology, and in particular to a vehicle networking hardware-in-the-loop testing method and device. Background Art
[0002] With the rapid development of intelligent transportation and autonomous driving technologies, the Internet of Vehicles (IoV), a key enabler for comprehensive information exchange between vehicles and the outside world, is playing an increasingly important role in modern transportation systems. Vehicle-to-Everything (V2X) refers to communication technologies between vehicles and other entities, including vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N). This technology enables numerous functions such as intelligent traffic management, vehicle safety assistance, and autonomous driving collaboration, significantly improving traffic efficiency, enhancing driving safety, and enhancing the user experience.
[0003] The stable operation of the connected vehicle system requires highly reliable and high-performance hardware (V2X devices). V2X hardware must operate reliably in complex environments, facing challenges such as signal interference, extreme weather conditions, and complex road conditions. Therefore, ensuring the proper functioning of V2X hardware in various scenarios is crucial to the stable operation of the connected vehicle system, necessitating V2X hardware-in-the-loop (V2X-HIL) testing.
[0004] In current technology, the hardware-in-the-loop testing method for the Internet of Vehicles is generally to use simulated V2X road scenarios and radio frequency instruments in an ideal environment to implement hardware-in-the-loop testing for the Internet of Vehicles. The functional and performance testing of V2X equipment can be simulated in the laboratory.
[0005] However, the current vehicle network hardware-in-the-loop testing method cannot accurately assess the real-world communication environment, and there is a gap between it and the actual application scenario, which will lead to inaccurate test results of V2X equipment and may even pose security risks. Summary of the Invention
[0006] Based on the above problems, the present application provides a method and device for in-the-loop testing of vehicle network hardware. In the in-the-loop testing of vehicle network hardware, a channel model that reflects the real-world communication environment is introduced, so that the real-world communication environment can be more accurately simulated in a laboratory environment, thereby improving the accuracy of the test of V2X equipment and thus improving the security of V2X equipment.
[0007] The embodiments of this application disclose the following technical solutions:
[0008] In a first aspect, the present application provides a vehicle networking hardware-in-the-loop testing method, comprising:
[0009] Build corresponding virtual road scenarios based on the set test requirements;
[0010] emitting a plurality of rays and causing the plurality of rays to propagate in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene; wherein the plurality of rays interact with scene elements in the virtual road scene;
[0011] constructing a channel model corresponding to the virtual road scene according to the channel parameters;
[0012] Based on the virtual road scene, the channel model and the radio frequency instrument, a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) test is performed on the vehicle-to-everything (V2X) device.
[0013] Optionally, before emitting a plurality of rays and causing the plurality of rays to propagate in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene, the method further includes:
[0014] Based on the corresponding virtual road scene, material parameters of each scene element in the virtual road scene are obtained.
[0015] Optionally, the acquiring, based on the corresponding virtual road scene, material parameters of each scene element in the virtual road scene includes:
[0016] transmitting a detection signal to the corresponding virtual road scene through a simulated radar sensor, and receiving a reflection signal of the detection signal;
[0017] Performing analog-to-digital conversion on the reflected signal to obtain signal data of the reflected signal;
[0018] Analyzing the signal data of the reflected signal by a signal processing algorithm to obtain a signal characteristic of the reflected signal;
[0019] Material parameters of each scene element in the virtual road scene are obtained according to the signal characteristics of the reflected signal.
[0020] Optionally, emitting a plurality of rays and causing the plurality of rays to propagate in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene includes:
[0021] Determining propagation control parameters corresponding to the plurality of rays based on material parameters of the respective scene elements;
[0022] Based on the propagation control parameters, the multiple rays are emitted and propagated in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene.
[0023] Optionally, obtaining the channel parameters corresponding to the virtual road scene includes:
[0024] Acquire reception characteristic information corresponding to the plurality of rays when they respectively arrive at a preset receiving antenna; wherein the reception characteristic information includes: arrival time, amplitude, and phase of the rays;
[0025] Channel parameters corresponding to the virtual road scene are obtained according to the receiving characteristic information respectively corresponding to the multiple rays.
[0026] Optionally, constructing a channel model corresponding to the virtual road scene according to the channel parameters includes:
[0027] generating, by a channel simulator, a ray tracing channel model corresponding to the virtual road scene based on the channel parameters; wherein the ray tracing channel model is a channel model obtained by tracing the propagation path of rays in space based on geometric optics and electromagnetic theory;
[0028] The performing of a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) test on a V2X device based on the virtual road scenario, the channel model, and the radio frequency instrument includes:
[0029] Based on the virtual road scene, the ray tracing channel model and the radio frequency instrument, a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) test is performed on the vehicle-to-everything (V2X) device.
[0030] Optionally, the performing a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) test on a V2X device based on the virtual road scenario, the channel model, and a radio frequency instrument includes:
[0031] Based on the virtual road scene, multiple vehicle driving scenarios are set, and according to the driving status of the vehicles and the channel model, vehicle network communication signals corresponding to the vehicles are generated;
[0032] Based on the corresponding vehicle network communication signal, send a radio frequency signal to the vehicle network V2X device through a radio frequency instrument, and receive a signal fed back by the V2X device;
[0033] Performing a functional test and a performance test on the V2X device based on a signal fed back by the V2X device.
[0034] Optionally, the channel model corresponding to the virtual road scene is represented in the form of a matrix or a vector.
[0035] In a second aspect, the present application provides a vehicle networking hardware-in-the-loop testing device, comprising:
[0036] A virtual scene construction module is used to construct corresponding virtual road scenes based on the set test requirements;
[0037] a channel parameter acquisition module, configured to emit a plurality of rays and cause the plurality of rays to propagate in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene; wherein the plurality of rays interact with scene elements in the virtual road scene;
[0038] A channel model construction module, configured to construct a channel model corresponding to the virtual road scene according to the channel parameters;
[0039] The hardware-in-the-loop testing module is used to perform hardware-in-the-loop testing on the vehicle-to-everything (V2X) device based on the virtual road scene, the channel model, and the radio frequency instrument.
[0040] Optionally, the device further includes: a material parameter acquisition module;
[0041] The material parameter acquisition module is used to acquire the material parameters of each scene element in the virtual road scene based on the corresponding virtual road scene.
[0042] Compared with the existing technology, the present application has the following beneficial effects: In the present application, a channel model for a virtual road scene is constructed, and the channel model is combined with V2X-HIL. The channel model is used to simulate the communication environment in the real world, so that the real-world communication environment can be simulated more accurately in a laboratory environment, and the testing of V2X hardware in a real environment is realized in the laboratory environment, thereby improving the accuracy of the test of V2X equipment and thus improving the security of V2X equipment. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] 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 or the description of the prior art. 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 paying any creative labor.
[0044] Figure 1 A flowchart of a vehicle networking hardware-in-the-loop testing method provided in an embodiment of the present application;
[0045] Figure 2 A schematic diagram of a process for obtaining channel parameters provided in an embodiment of the present application;
[0046] Figure 3 A flowchart illustrating a specific method for performing hardware-in-the-loop testing of an Internet of Vehicles device provided in an embodiment of the present application;
[0047] Figure 4A flowchart of another vehicle networking hardware-in-the-loop testing method provided in an embodiment of the present application;
[0048] Figure 5 A schematic diagram of a process for obtaining material parameters of scene elements provided in an embodiment of the present application;
[0049] Figure 6 A schematic diagram of the structure of a vehicle networking hardware-in-the-loop testing device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0050] As previously described, current V2X hardware-in-the-loop (HIL) testing methods typically utilize simulated V2X road scenarios and radio frequency instrumentation in idealized environments. These tests can efficiently simulate and test V2X device functionality and performance in a laboratory setting, allowing for controlled test conditions and repeatable testing. However, they cannot accurately assess real-world communication environments, resulting in discrepancies with actual application scenarios. This can lead to inaccurate functional and / or performance test results for V2X devices, potentially posing safety risks.
[0051] For example, an ideal environment cannot fully simulate the complex and ever-changing signal interference, obstruction, and attenuation conditions found in the real world. For example, signal propagation can be severely affected in urban canyon environments or tunnels, and testing in an ideal environment cannot reflect these conditions. This can lead to overly optimistic assessments of key performance indicators such as V2X device signal transmission distance and transmission rate, which are inconsistent with actual performance in use, distorting the performance testing of V2X devices. Furthermore, safety-related functions of V2X devices, such as emergency braking warnings and intersection collision warnings, rely on accurate communication and environmental perception. In ideal environment testing, these safety functions may perform well in testing due to the inability to accurately simulate real-world communication environments, but they may not be triggered promptly and accurately in complex real-world environments, thereby increasing the risk of traffic accidents.
[0052] Furthermore, with current technology, if the Internet of Vehicles hardware is tested in a real environment, although it can reflect the actual situation, it will be subject to environmental restrictions such as roads and weather, and will require a lot of manpower costs. It is also difficult to accurately reproduce specific scenarios, which makes it difficult to locate faults when problems occur.
[0053] The present application provides a method for testing hardware-in-the-loop (HIL) of an Internet of Vehicles (IoV), including: constructing a corresponding virtual road scene based on set test requirements; emitting multiple rays and causing the multiple rays to transmit in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene; constructing a channel model corresponding to the virtual road scene based on the channel parameters; and performing HIL testing on IoV devices based on the virtual road scene, the channel model, and a radio frequency instrument. In an embodiment of the present application, a channel model corresponding to the virtual road scene is constructed, and the channel model is combined with V2X-HIL. The channel model is used to simulate the real-world communication environment, so that the real-world communication environment can be more accurately simulated in a laboratory environment. This allows for testing of V2X hardware in a real-world environment in a laboratory environment, improves the accuracy of testing of V2X devices, and thereby improves the security of V2X devices.
[0054] Furthermore, simulating the real-world communication environment through channel models can save a lot of manpower costs. The channel models can be adjusted in real time and can accurately reproduce specific scenarios, thereby accurately locating the problem.
[0055] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.
[0056] Example 1:
[0057] The following combination Figure 1-Figure 3 , a vehicle networking hardware-in-the-loop testing method provided by an embodiment of the present application is introduced in detail.
[0058] like Figure 1 As shown, a vehicle networking hardware-in-the-loop testing method provided in an embodiment of the present application includes the following steps:
[0059] S101. Construct a corresponding virtual road scene based on the set test requirements.
[0060] Among them, the virtual road scene refers to a virtual three-dimensional road environment constructed through digital means based on real-world geographic data, traffic information, etc.
[0061] Specifically, based on the set test requirements, the corresponding road environment is constructed through scene modeling software, and the occlusion of obstacles such as trees, vehicles, and buildings is taken into account to construct the corresponding virtual road scene.
[0062] In one possible implementation, based on the set test requirements, the road environment that needs to be constructed can be determined, such as an urban street environment, a highway environment, an intersection environment, and a rural road environment. Then, based on the road environment indicated by the set test requirements, scene elements are constructed and scene parameters are set through scene modeling software to obtain the corresponding virtual road scene.
[0063] Building scene elements involves constructing roads, adding vehicles, and setting environmental elements based on test requirements. If the test requirements specify a highway environment, a highway with a specific number of lanes and length is constructed. If the test requirements specify an urban street environment, an urban road with intersections, curves, and sidewalks is constructed. Furthermore, different types of vehicles can be added to the scene based on actual conditions. Furthermore, obstacles such as trees and buildings can be added to simulate realistic occlusion.
[0064] Setting scene parameters involves setting parameters for different scene elements. For example, for roads, this involves setting lane width, slope, and curvature; for vehicles, this involves setting speed range, braking performance, and communication device parameters. Furthermore, for the environment, weather conditions and light intensity can also be set.
[0065] Furthermore, in a possible implementation, after constructing the corresponding virtual road scene, the virtual road scene is tested and optimized to determine whether the corresponding virtual road scene meets the set test requirements, thereby ensuring that the virtual road scene can meet the set test requirements, thereby providing effective support for subsequent in-the-loop testing of Internet of Vehicles equipment.
[0066] S102 : Emit a plurality of rays, and transmit the plurality of rays in a corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene.
[0067] The multiple rays (or series of rays) simulate signal propagation paths. These rays are not actual light rays, but rather structures specifically constructed to simulate signal propagation. Furthermore, the rays interact with scene elements in the virtual road scene, propagating according to specific rules and interacting with various scene elements within the virtual road scene.
[0068] Moreover, the virtual road scene includes scene elements such as buildings, vehicles, trees, and road facilities, and the interaction between rays and scene elements is diverse.
[0069] For example, taking buildings, vehicles, and trees as examples, we will introduce how multiple (a series of) rays interact with scene elements. When rays encounter buildings, depending on the building's material (such as metal, masonry, glass, etc.), some rays will be reflected, changing their propagation direction; some rays may penetrate the building, but will be attenuated; and some rays will be absorbed by the building. When rays encounter vehicles, some rays will be strongly reflected by the vehicle's metal body; while parts such as the vehicle's windows allow some rays to penetrate. When rays encounter trees, vegetation such as trees will cause them to scatter, changing the direction and intensity of ray propagation.
[0070] Channel parameters are quantitative indicators used to describe the various physical characteristics that a radio signal experiences during its transmission from the transmitter to the receiver. Channel parameters include path loss, shadow fading, and multipath effects.
[0071] Path loss refers to the phenomenon that signal strength weakens as the signal transmission distance increases. It reflects the energy loss of radio waves when propagating in free space or a specific environmental medium.
[0072] Shadow fading is a phenomenon in which large obstacles (such as buildings and hills) block the direct line of sight, causing fluctuations in the received signal strength.
[0073] Multipath occurs when a signal reaches the receiver via multiple different paths. Each path may have different lengths and attenuation, resulting in the received signal being composed of multiple components with different time delays. This can lead to signal distortion, interference, and even interruption. Multipath effects include delay spread (the statistical characteristics of the delays along all paths) and angular spread (the degree of angular spread in the direction of arrival of the signal).
[0074] Further, for the convenience of understanding, the following Figure 2 The specific implementation of the above S102 is introduced in detail.
[0075] S201: Launch multiple rays, and transmit the multiple rays in a corresponding virtual road scene.
[0076] Specifically, multiple rays (a series of rays) are emitted and propagated in the corresponding virtual road scene. The multiple rays propagate in the environment according to rules such as the refractive index and reflection coefficient of the materials of the scene elements in the virtual road scene.
[0077] S202: Obtain corresponding receiving characteristic information when multiple rays respectively reach a preset receiving antenna.
[0078] The received characteristic information includes: the arrival time, amplitude and phase of the ray.
[0079] Specifically, by recording the time from reflection to reception for each ray, the arrival time of each ray is obtained. The arrival time is used to analyze the multipath effect during signal propagation. In a virtual road scene, multiple rays emitted from the target interact with various scene elements (such as buildings, vehicles, trees, etc.) and propagate along different paths. Due to the different propagation path lengths and speeds, the time they arrive at the preset receiving antenna varies. For example, a directly propagated ray A may arrive at the preset receiving antenna first, but after multiple reflections, the propagation path of ray A becomes longer, and ray A arrives later. This time difference can reflect the multipath effect during signal propagation.
[0080] Specifically, the amplitude of each ray reaching the preset receiving antenna is recorded to reflect the signal loss during propagation. During propagation, signal strength can vary due to factors such as distance attenuation, absorption by objects, reflection, and scattering. The amplitude of the ray upon reaching the receiving antenna reflects this impact. For example, if a ray encounters a large building during propagation, some of the ray will be absorbed or reflected, reducing the ray's amplitude before reaching the receiving antenna. In contrast, rays propagating in open space experience relatively little amplitude attenuation.
[0081] Specifically, the phase of the ray when it reaches the receiving antenna is obtained to analyze the superposition effect of the signal in a complex environment. During the propagation process, the phase of the ray will change with the propagation distance, medium characteristics, and interaction with scene elements. When multiple rays are superimposed at the receiving antenna, the phase difference will affect the characteristics of the composite signal. The superposition of rays with the same phase may enhance the signal, while the superposition of rays with opposite phases may weaken the signal. Therefore, the phase information of multiple rays helps to analyze the superposition effect of signals in a complex environment.
[0082] S203 : Obtain channel parameters corresponding to the virtual road scene according to the received characteristic information corresponding to the multiple rays.
[0083] Specifically, the arrival times, amplitudes, and phases of multiple rays are used to form a function representing how the channel responds to a short pulse input, known as the Channel Impulse Response (CIR). The CIR essentially represents the signal received by the receiver if an ideal excitation signal (an infinitesimally short pulse with finite energy) is applied to the transmitter. Therefore, it provides a comprehensive description of the channel's characteristics, including multipath effects, shadow fading, and path loss, thereby deriving the channel parameters corresponding to the virtual road scene.
[0084] Furthermore, based on the differences in arrival times of multiple rays at a preset receiving antenna, delay spread can be calculated. For example, the standard deviation of the arrival times corresponding to all rays, or the difference between the maximum and minimum values, can be used to measure the degree of delay spread caused by multipath. Channel shadow fading can be derived based on the amplitude variations of different rays. For example, statistics such as the path loss exponent and the standard deviation of shadow fading can be used to measure the channel's shadow fading. By combining the channel impulse response, delay spread, and shadow fading, the channel parameters corresponding to the virtual road scene can be obtained.
[0085] The above combination Figure 2 A detailed description of how to obtain the channel parameters corresponding to the virtual road scene is given below. Figure 1 , introducing a vehicle network hardware-in-the-loop testing method provided by an embodiment of the present application.
[0086] S103: Construct a channel model corresponding to the virtual road scene according to the channel parameters.
[0087] Specifically, based on the channel parameters, a channel model corresponding to the virtual road scene is constructed through precise geometric calculations and electromagnetic theory.
[0088] The channel model is a mathematical description of the various physical phenomena that a radio signal experiences during its transmission from the transmitter to the receiver. It aims to simulate how the signal is affected by the propagation environment, including path loss, multipath effects, shadow fading, etc.
[0089] Furthermore, the channel model corresponding to the virtual road scene is represented in the form of a matrix or a vector.
[0090] The matrix form represents the channel model, which is often used in the channel model of the multiple-input multiple-output (MIMO) system. The elements of the matrix can represent the channel characteristics between different transmitting antennas and receiving antennas. For example: an N t ×N r The matrix H of the channel model, where N t is the number of transmit antennas, N r is the number of receiving antennas, each element h in the matrix ij represents the channel characteristics from the i-th transmitting antenna to the j-th receiving antenna.
[0091] The channel model is represented in the form of a vector, which is often used in single-input single-output (SISO) systems or simplified channel models. The elements of the vector can represent the channel characteristics at different time points or different frequency points.
[0092] In a possible implementation, a ray tracing channel model corresponding to the virtual road scene is generated according to the channel parameters.
[0093] The ray tracing channel model is based on geometric optics and electromagnetic theory, and is derived by tracing the propagation paths of rays in space. This is a deterministic channel model. Based on geometric optics and electromagnetic theory, it accurately calculates the propagation paths and characteristics of signals in complex environments by tracing the reflection, refraction, and scattering of rays during their propagation.
[0094] In connected vehicle scenarios, vehicle movement and changes in the surrounding environment affect signal propagation. The ray tracing channel model can update ray propagation paths and channel parameters in real time, accurately capturing the dynamically changing channel characteristics of connected vehicles. Whether a vehicle is traveling at high speed on a highway or moving slowly through congested urban areas, it can accurately simulate channel changes in different scenarios.
[0095] S104: Based on the virtual road scenario, channel model, and radio frequency instrument, perform hardware-in-the-loop testing on the Internet of Vehicles equipment.
[0096] Among them, vehicle-to-everything (V2X) equipment refers to the hardware and software systems used to realize information interaction between vehicles and the outside world. V2X equipment enables vehicles to exchange data with other vehicles, infrastructure, pedestrians and networks through wireless communication technology.
[0097] Exemplary V2X devices include: On-Board Unit (OBU) and Roadside Unit (RSU). The OBU is installed inside the vehicle and is a key component for enabling communication between the vehicle and the outside world. It is used to enable the vehicle to receive and send various information, such as vehicle location, speed, driving intention, etc. The RSU is usually installed at traffic lights, road signs or other fixed locations. It serves as a bridge between the vehicle and the infrastructure. It is responsible for communicating with the OBU and back-end management systems, providing vehicles with information such as road conditions and traffic signals, and enhancing the coverage and stability of vehicle-to-vehicle communication.
[0098] In one possible implementation, V2X devices are subjected to hardware-in-the-loop testing based on virtual road scenarios, ray tracing signal models, and radio frequency instruments.
[0099] V2X devices are tested using hardware-in-the-loop (HIL) testing, combining virtual road scenarios, channel models, and radio frequency instrumentation. Because the channel model is incorporated, signals in the test are transmitted based on the multipath propagation and fading rules defined in the channel model. Furthermore, signals received by surrounding vehicles may experience signal strength variations and delays due to real-world interference simulated by the channel model. The functionality and performance of the V2X devices are evaluated by observing their ability to accurately receive and interpret this information, as well as metrics such as transmission accuracy and latency.
[0100] For ease of understanding, the following Figure 3 , a detailed introduction is given on how to perform hardware-in-the-loop testing on Internet of Vehicles devices in the embodiments of this application.
[0101] First, before conducting hardware-in-the-loop testing on connected vehicle devices, the RF instrument needs to be manually set up in advance.
[0102] Specifically, when selecting an RF instrument, a vector signal generator and vector signal analyzer with high-precision frequency synthesis technology are generally used. RF instrument configuration includes: setting the instrument's center frequency to the V2X device's operating frequency, ensuring frequency consistency and effective signal transmission and reception; setting the instrument's bandwidth based on the V2X device's communication bandwidth requirements to prevent spectral aliasing and other issues during signal transmission, ensuring signal integrity and accuracy; precisely adjusting the RF instrument's transmit frequency within a range of -20dBm to +20dBm to simulate varying signal transmission intensities; and setting the instrument's receive sensitivity to below a preset sensitivity (e.g., -100dBm) to ensure it can capture weak signals.
[0103] S301. Based on a virtual road scene, set driving scenarios of multiple vehicles, and generate vehicle network communication signals corresponding to the vehicles according to the driving status and channel model of the vehicles.
[0104] The vehicle driving scenarios include: straight-line driving, turning on a curve, accelerating and decelerating at an intersection, etc. Generally, in a virtual road scene, multiple vehicle driving scenarios are set to simulate various traffic conditions.
[0105] For example, based on the virtual road scene, 10 different vehicle driving scenarios are set, including vehicles driving on different road types at different speeds (such as 60km / h, 80km / h, 100km / h), as well as vehicle acceleration, deceleration and steering operations at curves and intersections.
[0106] Among them, the Internet of Vehicles communication signal is an electromagnetic signal used for information exchange between vehicles and vehicles (V2V), vehicles and infrastructure (V2I), vehicles and people (V2P), and vehicles and networks (V2N) in the Internet of Vehicles. It carries various types of key information and ensures the realization of Internet of Vehicles functions.
[0107] Specifically, based on the real-time driving status of the vehicle in various driving scenarios of the virtual road scene, such as position, speed, acceleration and driving direction, combined with the channel model corresponding to the virtual road scene, that is, considering factors such as path loss and multipath effect of the signal during propagation, the Internet of Vehicles communication signal corresponding to the vehicle is generated.
[0108] S302: Based on the corresponding IoV communication signal, send a radio frequency signal to the IoV device through the radio frequency instrument, and receive a signal fed back by the IoV device.
[0109] Specifically, the corresponding IoV communication signal is input into the RF meter, which modulates and amplifies the signal before transmitting it to the corresponding IoV V2X device at a specific frequency and power. Simultaneously, the RF meter continuously receives feedback from the V2X device. Upon receiving the RF signal, the V2X device processes it according to its own communication protocol and functionality and transmits the processed signal back. The feedback signal from the V2X device contains information such as the V2X device's response to the received signal and the data processing results, and serves as a crucial basis for evaluating and testing the functionality and performance of the V2X device.
[0110] S303: Based on the signals fed back by the Internet of Vehicles devices, perform function tests and performance tests on the Internet of Vehicles devices.
[0111] Functional testing of vehicle network equipment involves checking the basic functionality of V2X devices based on signals fed back by the devices. For example, testing the information exchange between the V2X device and other vehicles verifies whether the V2X device can accurately receive, interpret, and process information such as speed, location, and driving intentions sent by other vehicles.
[0112] Performance testing of connected vehicle equipment involves analyzing signals fed back by V2X devices to evaluate their performance. For example, testing the real-time nature of V2X communications involves calculating the time difference between signal transmission and signal reception to assess the device's real-time performance in different scenarios. Testing the reliability of V2X data transmission involves calculating the bit error rate (BER) in the device's feedback signals to assess the reliability of the device's data transmission signals.
[0113] An embodiment of the present application provides a method for testing vehicle-to-everything (V2X) hardware-in-the-loop (HIL) technology, including: constructing a corresponding virtual road scene based on set test requirements; emitting multiple rays and causing the rays to propagate through the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene; constructing a channel model corresponding to the virtual road scene based on the channel parameters; and performing HIL testing on V2X devices based on the virtual road scene, the channel model, and a radio frequency instrument. In this embodiment of the present application, a channel model corresponding to the virtual road scene is constructed and combined with V2X-HIL. The channel model is used to simulate a real-world communication environment, enabling more accurate simulation of the real-world communication environment in a laboratory environment. This allows for real-world testing of V2X hardware in a laboratory environment, improving the accuracy of V2X device testing and thereby enhancing the safety of V2X devices.
[0114] Furthermore, simulating the real-world communication environment through channel models can save a lot of manpower costs. The channel models can be adjusted in real time and can accurately reproduce specific scenarios, thereby accurately locating the problem.
[0115] Example 2:
[0116] The following combination Figure 4 and Figure 5 , a detailed introduction to another vehicle networking hardware-in-the-loop testing method provided in an embodiment of the present application is given.
[0117] like Figure 4 As shown, another vehicle networking hardware-in-the-loop testing method provided in an embodiment of the present application includes the following steps:
[0118] S401: Construct a corresponding virtual road scene based on the set test requirements.
[0119] It should be noted that S401 is the same as S101 in the first embodiment, so for details on the specific implementation of S401, please refer to S101 in the first embodiment, and no further details will be given here.
[0120] S402: Based on the corresponding virtual road scene, obtain material parameters of each scene element in the virtual road scene.
[0121] Scene elements refer to all the components used to construct and describe the virtual road scene. These scene elements work together to simulate actual road traffic conditions as realistically as possible. For example, scene elements include: roads, traffic facilities, vehicles, and pedestrians.
[0122] The material parameters of a scene element are a set of data describing the physical properties of the element. They influence how signals interact with the element, and are therefore crucial for simulating ray propagation in channel modeling. For example, for a building, the material parameters include dielectric constant, magnetic permeability, and electrical conductivity.
[0123] For ease of understanding, the following Figure 5 This section describes in detail how to obtain the material parameters of scene elements.
[0124] S501: Transmit a detection signal to a corresponding virtual road scene through a simulated radar sensor, and receive a reflection signal of the detection signal.
[0125] Among them, simulated radar sensor refers to a tool that simulates the behavior and output of real-world radar sensors in a virtual environment.
[0126] Furthermore, based on the virtual road scenario and the set test requirements, appropriate simulated radar sensors, such as millimeter-wave radar and lidar, are selected. Different types of radar sensors have different detection principles and performance characteristics. For example, millimeter-wave radar is more sensitive to reflections from metal objects, while lidar can more accurately obtain the three-dimensional position information of objects.
[0127] Specifically, in a virtual road scene, a detection signal is emitted by a simulated radar sensor. The detection signal propagates in the virtual road. When encountering scene elements such as roads, vehicles, and obstacles, reflection and scattering will occur. The simulated radar sensor receives the reflected signal (i.e., the reflected signal of the detection signal).
[0128] S502: Perform analog-to-digital conversion on the reflected signal to obtain signal data of the reflected signal.
[0129] The reflected signal exists as a continuous analog signal with continuous amplitude and time variations, while the signal data is represented in discrete digital form as a series of digital values or data points.
[0130] Specifically, the reflected signal is sampled and quantized by performing analog-to-digital conversion (ADC) on the reflected signal, and converted into a discrete digital form, namely, signal data.
[0131] In a possible implementation, signal conditioning (such as filtering and amplification), analog-to-digital conversion, and data encoding are performed on the reflected signal to obtain signal data of the reflected signal.
[0132] S503: Analyze the signal data of the reflected signal through a signal processing algorithm to obtain signal characteristics of the reflected signal.
[0133] Among them, signal characteristics include: time domain characteristics such as amplitude, period, and frequency; frequency domain characteristics such as spectrum and power spectral density (PSD).
[0134] Specifically, the signal data of the reflected signal is analyzed by a signal processing algorithm, such as a fast Fourier transform (FFT), a Kalman filter, etc., to obtain the signal characteristics of the reflected signal.
[0135] S504: Obtain material parameters of each scene element in the virtual road scene according to the signal characteristics of the reflected signal.
[0136] Specifically, based on the signal characteristics of the reflected signal, combined with known radar detection principles and the relationship model between material and signal, the material properties of each scene element are inverted.
[0137] The above combination Figure 5 , which details how to obtain the material parameters of scene elements. Figure 4 , introducing another vehicle network hardware-in-the-loop testing method provided by an embodiment of the present application.
[0138] S403: Determine propagation control parameters corresponding to the plurality of rays based on material parameters of each scene element.
[0139] The propagation control parameters refer to parameters that affect the ray propagation process. For example, the propagation control parameters include: emission angle, initial phase, emission power, etc.
[0140] Specifically, by determining the transmission control parameters corresponding to multiple rays through the material parameters of each scene element, it is possible to ensure that multiple rays and each scene element are aligned, thereby obtaining more accurate channel parameters that are closer to the real world.
[0141] For example, determining the emission angles of different rays through material parameters can ensure that the rays interact with scene elements such as roads, vehicles, and obstacles through reflection, refraction, or scattering as expected; phase is an important parameter that describes the signal fluctuation state, and different materials have different effects on the signal phase. Determining the initial phase of the ray based on the material parameters can more accurately simulate complex phenomena such as multipath propagation; the absorption and scattering characteristics of the material will cause the energy of the ray to attenuate during the propagation process. Determining the emission power of the ray based on the material parameters can ensure that in the simulated propagation process, the energy state of the ray when it reaches the receiving end after passing through objects of different materials is consistent with the actual situation.
[0142] S404: Based on the propagation control parameter, a plurality of rays are emitted, and the plurality of rays are propagated in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene.
[0143] S405: Construct a channel model corresponding to the virtual road scene based on the channel parameters.
[0144] S406: Based on the virtual road scene, channel model and radio frequency instrument, perform vehicle networking hardware-in-the-loop testing on the vehicle networking equipment.
[0145] It should be noted that the above S404-S406 are the same as S102-S104 in the first embodiment, so for details on the specific implementation of the above S404-S406, please refer to S102-S104 in the first embodiment, and will not be repeated here.
[0146] An embodiment of the present application provides a method for hardware-in-the-loop (HIL) testing of an IoV system, including: constructing a corresponding virtual road scene based on set test requirements; obtaining material parameters of each scene element in the virtual road scene based on the corresponding virtual road scene; determining propagation control parameters corresponding to a plurality of rays based on the material parameters of each scene element; emitting a plurality of rays based on the propagation control parameters, and causing the rays to propagate through the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene; constructing a channel model corresponding to the virtual road scene based on the channel parameters; and performing HIL testing of IoV devices based on the virtual road scene, the channel model, and a radio frequency instrument. In this embodiment of the present application, a channel model corresponding to the virtual road scene is constructed and combined with a V2X HIL (Vehicle-to-Everything) test system. The channel model is used to simulate a real-world communication environment, enabling more accurate simulation of the real-world communication environment in a laboratory environment. This allows for real-world testing of V2X hardware in a laboratory environment, improving the accuracy of V2X device testing, and thereby enhancing the safety of V2X devices.
[0147] Furthermore, the material parameters of each scene element in the virtual road scene are obtained, and according to the material parameters of each scene element, the propagation control parameters corresponding to the multiple rays are determined, so that the multiple rays are emitted through the propagation control parameters, thereby ensuring that the multiple rays and each scene element are aligned, thereby obtaining more accurate channel parameters that are closer to the real world.
[0148] Example 3:
[0149] The following combination Figure 6 , a detailed introduction to a vehicle networking hardware-in-the-loop testing device provided in an embodiment of the present application is given.
[0150] like Figure 6As shown, an embodiment of the present application provides a vehicle networking hardware-in-the-loop testing device including the following modules:
[0151] A virtual scene construction module 601 is used to construct a corresponding virtual road scene based on set test requirements;
[0152] A channel parameter acquisition module 602 is configured to emit a plurality of rays and propagate the rays in a corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene; wherein the plurality of rays interact with scene elements in the virtual road scene;
[0153] A channel model construction module 603 is used to construct a channel model corresponding to the virtual road scene according to the channel parameters;
[0154] The hardware-in-the-loop testing module 604 is used to perform hardware-in-the-loop testing on the Internet of Vehicles devices based on virtual road scenarios, channel models, and radio frequency instruments.
[0155] In a possible implementation method, the vehicle networking hardware-in-the-loop testing device further includes: a material parameter acquisition module, which is used to acquire material parameters of each scene element in the virtual road scene based on the corresponding virtual road scene.
[0156] In one possible implementation method, the material parameter acquisition module is specifically used to transmit a detection signal to the corresponding virtual road scene through a simulated radar sensor, and receive a reflected signal of the detection signal; perform analog-to-digital conversion on the reflected signal to obtain signal data of the reflected signal; analyze the signal data of the reflected signal through a signal processing algorithm to obtain signal characteristics of the reflected signal; and obtain material parameters of each scene element in the virtual road scene based on the signal characteristics of the reflected signal.
[0157] In one possible implementation method, the channel parameter acquisition module 602 is specifically used to determine the propagation control parameters corresponding to multiple rays based on the material parameters of each scene element; based on the propagation control parameters, multiple rays are emitted, and the multiple rays are propagated in the corresponding virtual road scene to obtain the channel parameters corresponding to the virtual road scene.
[0158] In one possible implementation method, the channel parameter acquisition module 602 is specifically used to obtain reception characteristic information corresponding to multiple rays when they respectively arrive at a preset receiving antenna; wherein the reception characteristic information includes: arrival time, amplitude and phase of the rays; based on the reception characteristic information corresponding to the multiple rays, the channel parameters corresponding to the virtual road scene are obtained.
[0159] In one possible implementation method, the channel model construction module 603 is specifically used to generate a ray tracing channel model corresponding to a virtual road scene based on channel parameters through a channel simulator; wherein the ray tracing channel model is a channel model obtained by tracing the propagation path of rays in space based on geometric optics and electromagnetic theory; the hardware-in-the-loop testing module 604 is specifically used to perform hardware-in-the-loop testing of V2X devices based on the virtual road scene, the ray tracing channel model, and the radio frequency instrument.
[0160] In one possible implementation method, the hardware-in-the-loop test module 604 is specifically used to set driving scenarios for multiple vehicles based on a virtual road scenario, and generate vehicle-to-everything communication signals corresponding to the vehicles based on the vehicle's driving status and channel model; based on the corresponding vehicle-to-everything communication signals, send radio frequency signals to vehicle-to-everything (V2X) devices through radio frequency instruments, and receive signals fed back by the V2X devices; and based on the signals fed back by the V2X devices, perform functional and performance tests on the V2X devices.
[0161] An embodiment of the present application provides a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) testing device, comprising: a virtual scenario construction module 601 for constructing a corresponding virtual road scenario based on set test requirements; a channel parameter acquisition module 602 for emitting multiple rays and causing the rays to propagate in the corresponding virtual road scenario to obtain channel parameters corresponding to the virtual road scenario; a channel model construction module 603 for constructing a channel model corresponding to the virtual road scenario based on the channel parameters; and a hardware-in-the-loop (HIL) testing module 604 for performing HIL testing on V2X devices based on the virtual road scenario, the channel model, and a radio frequency instrument. In this embodiment of the present application, a channel model corresponding to the virtual road scenario is constructed and combined with V2X-HIL. The channel model is used to simulate a real-world communication environment, enabling more accurate simulation of the real-world communication environment in a laboratory environment. This allows for real-world testing of V2X hardware in a laboratory environment, improving the accuracy of V2X device testing and thereby enhancing the safety of V2X devices.
[0162] Furthermore, simulating the real-world communication environment through channel models can save a lot of manpower costs. The channel models can be adjusted in real time and can accurately reproduce specific scenarios, thereby accurately locating the problem.
[0163] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method and device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. The method and device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.
[0164] The above is merely one specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.
Claims
1. A vehicle networking hardware-in-the-loop testing method, characterized in that: include: Build corresponding virtual road scenarios based on the set test requirements; emitting a plurality of rays and causing the plurality of rays to propagate in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene; wherein the plurality of rays interact with scene elements in the virtual road scene; constructing a channel model corresponding to the virtual road scene according to the channel parameters; Based on the virtual road scenario, the channel model and the radio frequency instrument, a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) test is performed on the vehicle-to-everything (V2X) device.
2. The method according to claim 1, characterized in that Before emitting a plurality of rays and causing the rays to propagate in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene, the method further includes: Based on the corresponding virtual road scene, material parameters of each scene element in the virtual road scene are obtained.
3. The method according to claim 2, characterized in that The acquiring, based on the corresponding virtual road scene, material parameters of each scene element in the virtual road scene includes: transmitting a detection signal to the corresponding virtual road scene through a simulated radar sensor, and receiving a reflection signal of the detection signal; Performing analog-to-digital conversion on the reflected signal to obtain signal data of the reflected signal; Analyzing the signal data of the reflected signal by a signal processing algorithm to obtain a signal characteristic of the reflected signal; Material parameters of each scene element in the virtual road scene are obtained according to the signal characteristics of the reflected signal.
4. The method according to claim 2, characterized in that The emitting a plurality of rays and causing the plurality of rays to propagate in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene includes: Determining propagation control parameters corresponding to the plurality of rays based on material parameters of the respective scene elements; Based on the propagation control parameters, the multiple rays are emitted and propagated in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene.
5. The method according to claim 1, characterized in that The obtaining of the channel parameters corresponding to the virtual road scene includes: Acquire reception characteristic information corresponding to the plurality of rays when they respectively arrive at a preset receiving antenna; wherein the reception characteristic information includes: arrival time, amplitude, and phase of the rays; Channel parameters corresponding to the virtual road scene are obtained according to the receiving characteristic information respectively corresponding to the multiple rays.
6. The method according to claim 1, characterized in that The constructing of a channel model corresponding to the virtual road scene according to the channel parameters includes: generating, by a channel simulator, a ray tracing channel model corresponding to the virtual road scene based on the channel parameters; wherein the ray tracing channel model is a channel model obtained by tracing the propagation path of rays in space based on geometric optics and electromagnetic theory; The performing of a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) test on a V2X device based on the virtual road scenario, the channel model, and the radio frequency instrument includes: Based on the virtual road scene, the ray tracing channel model and the radio frequency instrument, a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) test is performed on the vehicle-to-everything (V2X) device.
7. The method according to any one of claims 1 to 6, characterized in that The performing of a vehicle-to-everything (V2X) hardware-in-the-loop (HIL) test on a V2X device based on the virtual road scenario, the channel model, and the radio frequency instrument includes: Based on the virtual road scene, multiple vehicle driving scenarios are set, and according to the driving status of the vehicles and the channel model, vehicle network communication signals corresponding to the vehicles are generated; Based on the corresponding vehicle network communication signal, send a radio frequency signal to the vehicle network V2X device through a radio frequency instrument, and receive a signal fed back by the V2X device; Performing a functional test and a performance test on the V2X device based on a signal fed back by the V2X device.
8. The method according to any one of claims 1 to 6, characterized in that The channel model corresponding to the virtual road scene is represented in the form of a matrix or a vector.
9. A vehicle networking hardware-in-the-loop testing device, characterized in that: include: A virtual scene construction module is used to construct corresponding virtual road scenes based on the set test requirements; a channel parameter acquisition module, configured to emit a plurality of rays and cause the plurality of rays to propagate in the corresponding virtual road scene to obtain channel parameters corresponding to the virtual road scene; wherein the plurality of rays interact with scene elements in the virtual road scene; A channel model construction module, configured to construct a channel model corresponding to the virtual road scene according to the channel parameters; The hardware-in-the-loop testing module is used to perform hardware-in-the-loop testing on the vehicle-to-everything (V2X) device based on the virtual road scene, the channel model, and the radio frequency instrument.
10. The device according to claim 9, characterized in that The device further comprises: a material parameter acquisition module; The material parameter acquisition module is used to acquire the material parameters of each scene element in the virtual road scene based on the corresponding virtual road scene.