Rotating hub cloud control test method and system of intelligent network connection vehicle

Abstract

The invention discloses a rotating hub cloud control test method and system for an intelligent networked vehicle. The method comprises the steps that network communication between a rotating hub system and a cloud control test system is opened; the cloud control testing system monitors the state of the rotating hub in real time, and when the testing scene requirement is met, the traffic participant is controlled to start testing; in the test, the cloud control test system monitors the states of the rotating hub and the traffic participant in real time, and realizes synchronization of the cloud control traffic participant and the test vehicle on the rotating hub; and after the test is completed, performing test result analysis according to historical data and data obtained by the vehicle-mounted sensing equipment. By constructing a real-time communication mechanism of the rotating hub system and the cloud control test platform, the problem that vehicle perception cannot be tested through simulation test is solved, and the problem that real-time communication and control cannot be achieved during traditional rotating hub test is solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and more specifically, to a hub cloud-controlled testing method and system for an intelligent connected vehicle. Background Art

[0002] With the rapid development of intelligent connected vehicle technology, vehicle testing technology faces higher demands. Traditional rotating hub testing, which simulates road conditions by either using a real vehicle rotating hub and simulated traffic participants, or using a real vehicle rotating hub and simulated traffic participants, verifies the performance of the vehicle chassis, powertrain, and other components. However, this approach presents significant limitations. Firstly, the closed environment used in both real vehicle and simulated traffic participant testing prevents the realistic reproduction of complex traffic scenarios, preventing effective testing of vehicle perception systems (such as cameras and radar) in real traffic flows. For example, the purely simulated testing disclosed in patent publication number CN 119439946 A fails to test perception systems. Secondly, in both real vehicle and simulated traffic participant testing, the rotating hub test relies on pre-set control programs in the simulated traffic participant chassis, making it impossible to link the rotating hub system with multiple simulated traffic participants, enabling cloud-based group control of multiple traffic participants, and making it difficult to verify the vehicle's decision-making capabilities in vehicle-road collaborative scenarios.

[0003] Therefore, combining the physical reality of the rotary hub test with the real-time interactivity of the cloud-controlled test to achieve closed-loop testing of the entire chain of vehicle perception, decision-making, and control has become a technical challenge that needs to be urgently solved in the current field of intelligent connected vehicle testing. Summary of the Invention

[0004] Due to the problems existing in the prior art, the present invention proposes a hub-mounted cloud-controlled testing method and system for intelligent connected vehicles. The method aims to solve the problem of being unable to test vehicle perception during simulation testing by constructing a real-time communication mechanism between the hub-mounted system and the cloud-controlled testing platform, and solves the problem of being unable to communicate and control in real time during traditional hub-mounted testing, thereby providing a more comprehensive and reliable testing solution for intelligent connected vehicles.

[0005] To achieve the above objectives, the present invention provides, on the one hand, a method for cloud-controlled testing of a hub of an intelligent connected vehicle, comprising:

[0006] Step 11: Establish network communication between the hub system and the cloud control test system;

[0007] Step 12: The cloud-controlled test system monitors the hub status in real time, and controls the traffic participants to start the test when the test scenario requirements are met;

[0008] Step 13: During the test, the cloud-controlled test system monitors the status of the hub and traffic participants in real time to achieve synchronization between the cloud-controlled traffic participants and the test vehicles on the hub;

[0009] Step 14: After the test is completed, analyze the test results based on historical data and data obtained by the on-board sensing equipment.

[0010] The described wheel hub cloud-controlled testing method streamlines data flow between traditional wheel hub testing and the cloud-controlled testing system, enabling data interaction and thus enhancing the functionality of the cloud-controlled testing system. This testing method transcends the limitations of traditional testing methods, extending the effectiveness of wheel hub testing in real traffic flows and enabling real-time dynamic interaction between the wheel hub and external traffic participants, thereby verifying the vehicle's decision-making capabilities in vehicle-road collaborative scenarios. It also overcomes the inability of simple simulation testing to test perception systems.

[0011] Furthermore, the cloud-controlled test system includes a digital twin system, a cloud-controlled middleware, a scenario-based control console, and a time calibration server. Step 11 includes sending traffic from the hub's computer room control host to the hub console's network for network diversion. The scenario-based control console's control machine then monitors the computer room control host's network card and UDP (User Datagram Protocol) port to obtain real-time data from the hub. This setup enables the cloud-controlled system to obtain real-time information about the status of the vehicle under test on the hub, enabling continuous, real-time adjustments to traffic planning and control (hereinafter referred to as "planning and control"), closely replicating actual scenarios.

[0012] Furthermore, the real-time data of the hub includes four-wheel rotational speed, torque, and speed; the real-time data of the hub is pre-processed, including missing value processing and outlier processing, to enhance data usability.

[0013] Furthermore, the step 12 includes:

[0014] Step 121: On the scenario console, select the test scenario and start the test. The traffic participant enters the cloud control preparation state.

[0015] Step 122: The vehicle under test on the hub starts to set a test state and execute the test;

[0016] Step 123: Monitor the hub status data in real time. When the hub status meets the scenario start condition, the cloud-controlled test system controls the traffic participants to start the test.

[0017] Furthermore, in step 12, by issuing instructions including selecting a scene and starting the test, the traffic participant enters a preparation state; at the same time, the vehicle under test on the hub begins to set test status indicators and is gradually loaded into the test state; the cloud-controlled test system monitors the hub data in real time, and when the hub data reaches the initial state of the scene test, it controls the traffic participant to start the test.

[0018] Furthermore, the step 13 includes:

[0019] Step 131: monitor the status of the hub and traffic participants in real time, and calculate indicators including relative speed based on the real-time speed of the measured vehicle on the hub and the real-time status of the traffic participants;

[0020] Step 132: Update the cloud-controlled trajectory planning and speed planning of the traffic participant and send them to the traffic participant for execution, thus achieving continuous and real-time cloud-controlled testing.

[0021] Step 133: When the test end condition is met or a test stop instruction is received, the cloud-controlled traffic participant stops moving.

[0022] Furthermore, the status data of the hub and traffic participants monitored in real time include the real-time vehicle speed, heading angle, power, positioning of the traffic participants, as well as the torque and speed of the hub, to ensure the accuracy of subsequent processing and cloud control testing.

[0023] On the other hand, the present invention provides a hub cloud control test system for intelligent connected vehicles, which is used to implement the hub cloud control test method as described above; it includes a hub system and a cloud control test system that communicate in real time; the cloud control test system monitors the status of the hub and traffic participants in real time, and controls the movement trajectory and speed of traffic participants according to the hub status.

[0024] Furthermore, the cloud-controlled test system provides selection of test scenarios and controls the start and stop of tests.

[0025] Furthermore, the cloud control test system includes a digital twin system, a cloud control middle platform, a scene console and a time calibration server; the hub system includes a hub GUI (Graphical User Interface) host, a hub SPARC (Scalable Processor Architecture) controller, a computer room control host and a hub console; the computer room control host is sent to the network of the hub operating console for diversion, and the network card and UDP port of the hub computer room control host are monitored on the control machine of the scene console to obtain real-time data of the hub.

[0026] Compared with the prior art, the present invention has the following technical effects:

[0027] The present invention solves the problem of being unable to test vehicle perception during simulation testing, solves the problem of being unable to communicate and control in real time during traditional hub-turn testing, and realizes the assistance of hub-turn testing through cloud-controlled traffic participants, thereby improving the efficiency and scenario diversity of hub-turn testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention and its features and advantages will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0029] Figure 1 This is a flow chart of a hub cloud control testing method provided by one embodiment of the present invention;

[0030] Figure 2 This is a structural diagram showing the network communication between the hub system and the cloud control test system provided by one embodiment of the present invention;

[0031] Figure 3 This is a flow chart of a test preparation phase provided by an embodiment of the present invention;

[0032] Figure 4 This is a flowchart of the testing phase provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0034] It should be noted that the device structure and drawings of the present invention mainly describe the principles of the present invention. In terms of the technology of this design principle, the settings of the device's power mechanism, power supply system and control system are not fully described. However, on the premise that those skilled in the art understand the principles of the above invention, they can clearly know the details of its power mechanism, power supply system and control system. The control method can be automatic control through a controller, and the control algorithm of the controller can be implemented by simple programming by those skilled in the art, and the undescribed technologies involved in the following effect embodiments are searchable prior arts.

[0035] In addition, the order of execution of actions, steps, etc. in the devices and methods shown in the claims, specifications and drawings can be implemented in any order as long as there is no special explicit limitation on the order and the output of the previous processing is not used in the subsequent processing.

[0036] Example

[0037] See also Figure 1 This embodiment provides a hub cloud control testing method for an intelligent connected vehicle, including:

[0038] Step 11: Establish network communication between the hub system and the cloud control test system;

[0039] Step 12: The cloud-controlled test system monitors the hub status in real time, and controls the traffic participants to start the test when the test scenario requirements are met;

[0040] Step 13: During the test, the cloud-controlled test system monitors the status of the hub and traffic participants in real time to achieve synchronization between the cloud-controlled traffic participants and the test vehicles on the hub;

[0041] Step 14: After the test is completed, analyze the test results based on historical data and data obtained by the on-board sensing equipment.

[0042] In this embodiment, the hub-mounted cloud-controlled testing method first connects the hub-mounted system and the cloud-controlled test system, monitoring data from both systems in real time. This data includes the real-time speed, heading angle, battery level, and location of traffic participants, as well as the torque and speed of the hub, to ensure the accuracy of subsequent processing and cloud-controlled testing. Secondly, after the test begins, the test preparation phase begins, during which the vehicle under test on the hub gradually reaches the initial state of the test scenario. When the test start conditions are met, the cloud-controlled test system continuously regulates the test path and speed. Finally, after the test is completed, the hub-mounted data, traffic participant data, and regulated data from the test are stored in a database, and detailed test results analysis is performed based on historical data and data obtained from onboard sensing devices.

[0043] The hub-turning cloud-controlled testing method proposed in this embodiment solves the problem of being unable to test vehicle perception during simulation testing, and at the same time solves the problem of being unable to communicate and control in real time during traditional hub-turning testing. It realizes the assistance of hub-turning testing through cloud-controlled traffic participants, thereby improving the efficiency and scenario diversity of hub-turning testing.

[0044] In conventional hub testing methods, some hubs and traffic participant systems are separated, and some are transmitted via Wi-Fi. However, all regulations and controls are on the traffic participant side, and it is not easy to achieve cluster control of multiple traffic participants. As a preferred implementation of this embodiment, see Figure 2 , step 11 may include:

[0045] Step 111, build a cloud control test system and a hub system respectively; the cloud control test system includes a digital twin system, a cloud control middle platform, a scene console and a time calibration server; the hub system includes a hub GUI host, a hub SPARC controller, a computer room control host and a hub console.

[0046] In this embodiment, the digital twin maps the physical entity through digital means, which can be used for simulation, prediction and optimization, and helps test and verify vehicle-related functions in a virtual environment.

[0047] As the core hub of cloud control, the cloud control center is responsible for managing, dispatching and controlling vehicle-related operations, and can realize functions such as remote monitoring and command issuance.

[0048] The time calibration server ensures the time synchronization of various components within the system, which is crucial for tasks that require accurate timestamps, such as multi-sensor fusion, data recording and analysis.

[0049] The rotor GUI host is used for operators to interact with the rotor test bench, set parameters, and monitor the test process.

[0050] The SPARC controller of the rotor hub controls the rotor hub test bench. The rotor hub can simulate vehicle driving conditions. The controller accurately adjusts the operating status of the rotor hub.

[0051] The computer room control host is responsible for managing and controlling the equipment in the computer room to ensure a stable operating environment for the entire test system, such as monitoring power and temperature.

[0052] The scenario console is used to create, manage, and execute test scenarios. It can set test conditions such as traffic scenarios and weather conditions. It connects to the computer room control host via LAN1 (Local Area Network Connection) to obtain real-time hub status data.

[0053] The operator controls the hub test bench through the hub operating console, which is equipped with a screen display (connected via DP / HDMI) to provide an operation interface and real-time status display.

[0054] Traffic participants (dummies, dummy cars) are used to simulate other participants in real traffic scenarios. They are connected to the system via 5G, enabling remote control and data interaction.

[0055] The vehicle controller is the core control unit of the vehicle. It receives data from sensors (such as CAMERA and RADAR, which are used for visual information collection and environmental information detection such as distance and speed, respectively, to provide perception data for autonomous driving), makes decisions and controls the vehicle actuators.

[0056] CAN1, CAN2: Controller Area Network bus, used for communication between different electronic control units inside the vehicle.

[0057] Step 112: Send the computer room control host to the network of the hub console for diversion. On the control machine of the scene console, monitor the network card and UDP port of the hub computer room control host to obtain real-time data of the hub.

[0058] In this implementation, the hub data is diverted and monitored to obtain real-time hub information, including four-wheel rotational speed, torque, speed, etc., and undergoes some basic preprocessing, such as missing value processing and outlier processing, to enhance data availability.

[0059] join Figure 3 , step 12 may include:

[0060] Step 121: On the scenario console, select the preparation test scenario, start the test, and the traffic participants enter the cloud control preparation state.

[0061] Step 122: The vehicle under test on the hub starts to set a test state and execute the test.

[0062] Step 123: Monitor the hub status data in real time. When the hub status meets the scenario start condition, the cloud-controlled test system controls the traffic participants to start the test.

[0063] In this implementation, by selecting a scenario and issuing commands such as test start, traffic participants are put into a preparation state; at the same time, the vehicle under test on the hub begins to set test status indicators and gradually loads into the test state; the cloud-controlled test system monitors the hub data in real time, and when the hub data reaches the initial state of the scenario test, it controls the traffic participants to start the test.

[0064] join Figure 4 , step 13 may include:

[0065] Step 131: monitor the status of the hub and traffic participants in real time, and calculate indicators including relative speed based on the real-time speed of the measured vehicle on the hub and the real-time status of the traffic participants.

[0066] Step 132: Update the cloud-controlled trajectory planning and speed planning of the traffic participant and send them to the traffic participant for execution, thereby achieving continuous and real-time cloud-controlled testing.

[0067] Step 133: When the test end condition is met or a test stop instruction is received, the cloud-controlled traffic participant stops moving.

[0068] This implementation continuously monitors the status of the hub and traffic participants, calculates relative speeds and other indicators, and updates the participant's trajectory and speed plan, enabling continuous, real-time cloud-controlled testing. When the test system determines that the test completion conditions have been met or receives a "test stop" command, it controls the traffic participant to stop moving.

[0069] Based on the above hub cloud control test method, this embodiment also provides a hub cloud control test system for intelligent connected vehicles, including a hub system and a cloud control test system for real-time communication; the cloud control test system monitors the status of the hub and traffic participants in real time, and controls the movement trajectory and speed of traffic participants according to the hub status.

[0070] The cloud control test system includes a digital twin system, a cloud control middle platform, a scene console and a time calibration server; the hub system includes a hub GUI host, a hub SPARC controller, a computer room control host and a hub console; the computer room control host is sent to the network of the hub operating console for diversion, and the network card and UDP port of the hub computer room control host are monitored on the control machine of the scene console to obtain real-time data of the hub.

[0071] The cloud-controlled test system provides test scenario selection and controls the start and stop of the test.

[0072] In summary, the present invention provides a method and system for cloud-controlled testing of the hub of an intelligent connected vehicle, including: establishing network communication between the hub system and the cloud-controlled testing system; the cloud-controlled testing system monitors the hub status in real time, and when the test scenario requirements are met, controls the traffic participants to start the test; during the test, the cloud-controlled testing system monitors the status of the hub and traffic participants in real time, achieving synchronization between the cloud-controlled traffic participants and the test vehicle on the hub; after the test is completed, the test results are analyzed based on historical data and data obtained by the on-board sensing device. By constructing a real-time communication mechanism between the hub system and the cloud-controlled testing platform, the present invention solves the problem of being unable to test vehicle perception during simulation testing, and solves the problem of being unable to communicate and control in real time during traditional hub testing.

[0073] Those skilled in the art should understand that they can implement variations by combining the prior art with the above embodiments, which will not be described in detail here. Such variations do not affect the essence of the present invention and will not be described in detail here.

[0074] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the systems and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-mentioned disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention that do not depart from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A hub cloud control test method for an intelligent connected vehicle, characterized in that: include: Step 11: Establish network communication between the hub system and the cloud control test system; Step 12: The cloud-controlled test system monitors the hub status in real time, and controls the traffic participants to start the test when the test scenario requirements are met; Step 13: During the test, the cloud-controlled test system monitors the status of the hub and traffic participants in real time to achieve synchronization between the cloud-controlled traffic participants and the test vehicles on the hub; Step 14: After the test is completed, analyze the test results based on historical data and data obtained by the on-board sensing equipment.

2. The method for cloud-controlled testing of a hub of an intelligent connected vehicle according to claim 1, characterized in that: The cloud control test system includes a digital twin system, a cloud control middle platform, a scene console and a time calibration server; step 11 includes: sending the computer room control host of the hub to the network of the hub operating console for diversion, and on the control machine of the scene console, listening to the network card and UDP port of the computer room control host to obtain real-time data of the hub.

3. The method for cloud-controlled testing of a hub of an intelligent connected vehicle according to claim 2, characterized in that: The real-time data of the hub includes four-wheel rotational speed, torque, and speed; the real-time data of the hub is pre-processed including missing value processing and outlier processing.

4. The method for cloud-controlled testing of a hub of an intelligent connected vehicle according to claim 2, characterized in that: The step 12 comprises: Step 121: On the scenario console, select the test scenario and start the test. The traffic participant enters the cloud control preparation state. Step 122: The vehicle under test on the hub starts to set a test state and execute the test; Step 123: Monitor the hub status data in real time. When the hub status meets the scenario start condition, the cloud-controlled test system controls the traffic participants to start the test.

5. The method for cloud-controlled testing of a hub of an intelligent connected vehicle according to claim 4, characterized in that: In step 12, by issuing instructions including selecting a scene and starting the test, the traffic participant enters a preparation state; at the same time, the tested vehicle on the hub begins to set test status indicators and is gradually loaded into the test state; the cloud-controlled test system monitors the hub data in real time, and when the hub data reaches the initial state of the scene test, it controls the traffic participant to start the test.

6. The method for cloud-controlled testing of a hub of an intelligent connected vehicle according to claim 1, characterized in that: The step 13 comprises: Step 131: monitor the status of the hub and traffic participants in real time, and calculate indicators including relative speed based on the real-time speed of the measured vehicle on the hub and the real-time status of the traffic participants; Step 132: Update the cloud-controlled trajectory planning and speed planning of the traffic participant and send them to the traffic participant for execution, thus achieving continuous and real-time cloud-controlled testing. Step 133: When the test end condition is met or a test stop instruction is received, the cloud-controlled traffic participant stops moving.

7. The method for cloud-controlled testing of a hub of an intelligent connected vehicle according to claim 6, characterized in that: The status data of the hub and traffic participants monitored in real time include the real-time speed, heading angle, power, positioning of the traffic participants, and the torque and speed of the hub.

8. A hub cloud control test system for intelligent connected vehicles, characterized in that: Used to implement the hub cloud control test method as described in any one of claims 1 to 7; including a hub system and a cloud control test system for real-time communication; the cloud control test system monitors the status of the hub and traffic participants in real time, and controls the movement trajectory and speed of traffic participants according to the hub status.

9. The hub cloud control test system for an intelligent connected vehicle according to claim 8, characterized in that: The cloud-controlled test system provides test scenario selection and controls the start and stop of the test.

10. A hub cloud control test system for an intelligent connected vehicle according to claim 8 or 9, characterized in that: The cloud control test system includes a digital twin system, a cloud control middle platform, a scene console and a time calibration server; the hub system includes a hub GUI host, a hub SPARC controller, a computer room control host and a hub console; the computer room control host is sent to the network of the hub operating console for diversion, and the network card and UDP port of the hub computer room control host are monitored on the control machine of the scene console to obtain real-time data of the hub.

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