Automatic driving cycle HIL test method and related device

Abstract

The invention discloses an automatic driving cycle HIL test method and a related device, and belongs to the technical field of intelligent driving. The method comprises the following steps: inputting driving cycle working condition information in a pre-established test operation platform; activating a driving cycle mode according to the driving cycle working condition information; in the driving circulation mode, actual operation parameters are obtained, and the opening degree of an accelerator pedal and the opening degree of a brake pedal are compositely calculated through feedforward adjustment and feedback adjustment in combination with the preset target vehicle speed; actual operation parameters are calculated according to the opening degree of the accelerator pedal and the opening degree of the brake pedal, and closed-loop control is formed; and the vehicle speed, the actual gear and the engine signal in the driving cycle mode are monitored in real time, and the test is completed. According to the invention, a specific driving cycle working condition can be automatically operated, vehicle performance and function tests are carried out, the test efficiency can be effectively improved, the test reliability and safety are ensured, and the test has very strong repeatability.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent driving technology and relates to a HIL testing method and related devices for an automatic driving cycle. Background Art

[0002] A driving cycle (DC) is the complete operational flow of a vehicle, from ignition start, through normal operation, and finally shutdown, over a specified period of time. It is a repetitive series of driving maneuvers performed by the driver. These maneuvers include starting, accelerating, decelerating, turning, changing lanes, and stopping. At each stage of the driving cycle, vehicle systems must exhibit high reliability and stability to ensure real-time and effective detection of any potential faults or abnormalities, thereby ensuring driving safety. Drivers must continuously adjust their driving cycle to ensure safe and efficient driving under varying road conditions, traffic flow, and speed. The driving cycle reflects the factors within the "driver-vehicle-road" system within which a vehicle operates that have a significant impact on vehicle performance.

[0003] The continuous expansion of modern automotive controller functionality and the accelerated pace of software updates are placing ever-stricter demands on the reliability and safety of electronic control systems. To improve electronic control software development efficiency, reduce development costs, and ensure stable operation under diverse and complex operating conditions, hardware-in-the-loop (HIL) testing has become an essential step before actual road testing. However, the current HIL testing process still primarily relies on manually written test cases for testing and debugging. This approach is not only time-consuming and labor-intensive, but also results in lengthy testing cycles. This significantly impacts development efficiency, especially when faced with large workloads and limited cabinet resources. Summary of the Invention

[0004] The purpose of the present invention is to provide a HIL testing method and related devices for an autonomous driving cycle, so as to solve the technical problems in the prior art that the HIL testing process mainly relies on manual writing of test cases, resulting in low development efficiency and low degree of automation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a HIL testing method for an automated driving cycle, comprising the following steps:

[0007] Enter the driving cycle information into the pre-built test operation platform;

[0008] Activate driving cycle mode based on driving cycle condition information;

[0009] In the driving cycle mode, the actual operating parameters are obtained, and combined with the preset target vehicle speed, the accelerator pedal opening and brake pedal opening are calculated through feedforward adjustment and feedback adjustment.

[0010] Calculate the actual operating parameters based on the accelerator pedal opening and brake pedal opening to form a closed-loop control;

[0011] The test is completed by monitoring the vehicle speed, actual gear position and engine signals in real time during the driving cycle mode.

[0012] Furthermore, the test operation platform includes a TCU, a dSPACE PHS system and a host computer; the host computer is communicatively connected to the TCU and the dSPACE PHS system respectively; the TCU is communicatively connected to the dSPACE PHS system; the dSPACE PHS system includes an I / O board, a bus communication board, an FIU fault injection unit, a load board, a power module and a simulation system; the bus communication board provides residual bus communication for the TCU to exchange signals with the TCU; and the FIU fault injection unit can simulate real TCU faults.

[0013] Furthermore, the simulation system is used to provide a virtual vehicle environment for the TCU, including an Environment model, a Vehicle Dynamics model, a Drive Train model, and a Power Train model.

[0014] Furthermore, the step of activating the driving cycle mode according to the driving cycle condition information specifically includes: determining whether the shift lever signal, throttle signal and brake signal in the driving cycle condition information meet the preset driver mode conditions, and activating the driving cycle mode if they do.

[0015] Furthermore, the actual operating parameters include actual vehicle speed, drive wheel torque, wheel load power, engine speed and friction torque.

[0016] Furthermore, the feedforward adjustment process specifically includes:

[0017] In torque control mode:

[0018] a. Calculate the engine torque request based on the applied drive wheel torque and the transmission ratio. The specific calculation formula is:

[0019] Engine torque requirement = torque applied to driving wheels × gear ratio

[0020] b. Calculate the braking request torque based on the engine friction torque and the transmission ratio. The specific calculation formula is:

[0021] Braking request torque = engine friction torque × gear ratio

[0022] In power control mode:

[0023] a. Calculate the engine torque request based on the engine speed and wheel load power. The specific calculation formula is:

[0024] Engine torque requirement = wheel load power ÷ engine speed

[0025] b. Calculate the braking request torque based on the engine friction torque, engine speed, vehicle speed, and tire radius. The specific calculation formula is:

[0026] Braking request torque = engine friction torque × engine speed ÷ vehicle speed × tire radius

[0027] c. Calculate the accelerator pedal opening based on the engine's requested torque and engine speed using a table lookup;

[0028] The accelerator pedal opening is calculated by looking up the table based on the engine speed and the engine requested torque;

[0029] The brake pedal opening is calculated based on the brake request torque and the maximum rated brake torque. The specific calculation formula is:

[0030] Brake pedal opening = brake request torque ÷ maximum rated brake torque.

[0031] Furthermore, the feedback adjustment process includes: calculating the accelerator pedal opening and the brake pedal opening using a PI control model according to the actual vehicle speed and the target vehicle speed.

[0032] In a second aspect, the present invention provides a HIL test system for an autonomous driving cycle, comprising:

[0033] An input module is used to input driving cycle information into a pre-built test operation platform;

[0034] an activation module, configured to activate a driving cycle mode according to driving cycle condition information;

[0035] The first calculation module is used to obtain actual operating parameters in the driving cycle mode, and calculate the accelerator pedal opening and brake pedal opening by feedforward adjustment and feedback adjustment in combination with the preset target vehicle speed;

[0036] The second calculation module is used to calculate the actual operating parameters according to the accelerator pedal opening and the brake pedal opening to form a closed-loop control;

[0037] The monitoring module is used to monitor the vehicle speed, actual gear position and engine signal in real time under the driving cycle mode to complete the test.

[0038] In a third aspect, the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the HIL test method for an autonomous driving cycle as described above are implemented.

[0039] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the HIL test method for an autonomous driving cycle as described above.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention discloses a HIL test method and related device for an automated driving cycle. Feedforward and feedback composite control is performed based on the actual vehicle speed, drive wheel torque, wheel load power, engine speed signal, friction torque, and a preset target vehicle speed calculated by the vehicle power transmission module. The throttle and brake pedal openings, as well as the shift lever position, are calculated and transmitted to the transmission module, engine module, and vehicle module, respectively, for calculation of vehicle speed, vehicle braking force, engine speed signal, and engine torque, ultimately forming a closed-loop control. The present invention utilizes feedforward and feedback composite control to avoid the drawbacks of single feedback control, which only measures the controlled object, resulting in late intervention in vehicle dynamic control and significant system intervention. By combining the advantages of feedforward control, which only measures disturbances based on the model, allows for predictive analysis, gentle intervention, and enhanced maneuverability, the method enables the vehicle to operate more stably, accurately, and quickly according to the preset driving cycle conditions. This improves the accuracy of the test model, the efficiency and reliability of controller development, and allows for a more comprehensive and safer evaluation of controller performance. The present invention can more specifically simulate actual vehicle driving conditions and various operating conditions, making the test more realistic. It covers a wide range of driving modes and scenarios, helping to comprehensively evaluate the system's performance and reliability under different conditions. It can accurately repeat specific driving cycles, facilitating comparative analysis and troubleshooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 is a flow chart of the method of the present invention;

[0044] Figure 2 is a schematic diagram of the system of the present invention;

[0045] Figure 3 This is a schematic diagram of the structure of the test operation platform according to an embodiment of the present invention;

[0046] Figure 4 This is a flow chart of the automatic driving cycle signal processing according to an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the driving cycle control principle of an embodiment of the present invention;

[0048] Figure 6 This is a simulation model of the PI controller according to an embodiment of the present invention;

[0049] Figure 7 This is a flow chart of feedforward control signal calculation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0051] The following detailed description is all exemplary description, and is intended to provide further detailed description of the present invention. Unless otherwise indicated, all technical terms adopted in the present invention have the same meaning as commonly understood by those of ordinary skill in the art to which this application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present invention.

[0052] See also Figure 1 , an embodiment of the present invention discloses a HIL test method for an autonomous driving cycle, comprising the following steps:

[0053] S1, input driving cycle condition information into the pre-built test operation platform;

[0054] To conduct automated driving cycle HIL testing, it is first necessary to build an automated driving cycle calculation model. The driving cycle modeling solution of the present invention is based on Simulink vehicle power transmission signal interactive analysis technology. Simulink is a graphical modeling environment in MATLAB, which is widely used for modeling, simulation and analysis of dynamic systems in multiple fields. Simulink's graphical modeling method makes the modeling process more intuitive and efficient; supports modular modeling, which helps the maintainability and scalability of the model; has built-in rich simulation algorithms and tools to improve the accuracy and reliability of the test; supports real-time simulation, and real-time is one of the key factors to ensure the validity of the test results; Simulink provides a comprehensive and powerful platform for HIL testing, which can provide strong support from model construction to simulation to final testing and verification. The test operation platform mentioned herein can be found in Figure 3 The system includes a TCU, a dSPACE PHS system, and a host computer. The host computer communicates with the TCU and dSPACE PHS system, respectively. The TCU communicates with the dSPACE PHS system. The dSPACE PHS system includes DS2211 and DS4004 I / O boards, a bus communication board, an FIU fault injection unit, a load board, a power module, and a simulation system. The bus communication board provides residual bus communication for signal exchange with the TCU. The FIU fault injection unit can simulate real TCU faults. The I / O board provides all hard-wired input and output signals for the TCU. The TCU operates in the aforementioned HIL environment and undergoes functional testing under different operating conditions.

[0055] The simulation system provides a virtual vehicle environment for the TCU, including the Environment model, Vehicle Dynamics model, Drive Train model, Power Train model, Interface model, GearDetect model, and IO-Can model. The core algorithm for the autonomous driving loop resides in the driver and environment modules.

[0056] S2, activating the driving cycle mode according to the driving cycle condition information;

[0057] Determine whether the shift lever signal, throttle signal, and brake signal in the driving cycle operating condition information meet the preset driver mode conditions, and activate the driving cycle mode if they are met.

[0058] S3, in the driving cycle mode, obtains actual operating parameters, combines them with the preset target vehicle speed, and calculates the accelerator pedal opening and brake pedal opening through feedforward and feedback adjustments;

[0059] The actual operating parameters include actual vehicle speed, drive wheel torque, wheel load power, engine speed and friction torque.

[0060] The process of the feedforward regulation specifically includes:

[0061] In torque control mode:

[0062] a. Calculate the engine torque request based on the applied drive wheel torque and the transmission ratio. The specific calculation formula is:

[0063] Engine torque requirement = torque applied to driving wheels × gear ratio

[0064] b. Calculate the braking request torque based on the engine friction torque and the transmission ratio. The specific calculation formula is:

[0065] Braking request torque = engine friction torque × gear ratio

[0066] In power control mode:

[0067] a. Calculate the engine torque request based on the engine speed and wheel load power. The specific calculation formula is:

[0068] Engine torque requirement = wheel load power ÷ engine speed

[0069] b. Calculate the braking request torque based on the engine friction torque, engine speed, vehicle speed, and tire radius. The specific calculation formula is:

[0070] Braking request torque = engine friction torque × engine speed ÷ vehicle speed × tire radius

[0071] c. Calculate the accelerator pedal opening based on the engine's requested torque and engine speed using a table lookup;

[0072] The accelerator pedal opening is calculated by looking up the table based on the engine speed and the engine requested torque;

[0073] The brake pedal opening is calculated based on the brake request torque and the maximum rated brake torque. The specific calculation formula is:

[0074] Brake pedal opening = brake request torque ÷ maximum rated brake torque

[0075] See also Figure 6 The feedback adjustment process includes: calculating the accelerator pedal opening and the brake pedal opening using a PI control model according to the actual vehicle speed and the target vehicle speed.

[0076] S4, calculates the actual operating parameters according to the accelerator pedal opening and the brake pedal opening to form a closed-loop control, such as Figure 4 and Figure 5 As shown in the figure, the accelerator pedal opening and brake pedal opening signals are transmitted to the Vehicle Dynamics, Drive Train, and Power Train modules respectively to calculate the vehicle speed, vehicle braking force, engine speed signal, and engine torque, ultimately forming a closed-loop control. Through information exchange between the controllers of each module, the vehicle can automatically operate according to the preset driving cycle conditions.

[0077] S5, real-time monitoring of vehicle speed, actual gear position and engine signal in the driving cycle mode to complete the test.

[0078] The autonomous driving cycle of the present invention is based on the interactive analysis technology of vehicle power transmission signals. A test model is established and loaded into the HIL test cabinet. By communicating with the TCU, various signals are interactively transmitted, and specific driving cycle conditions are automatically run to perform vehicle performance and function tests. This can effectively improve test efficiency, ensure test reliability and safety, and make the test highly repeatable.

[0079] See also Figure 2 An embodiment of the present invention discloses a HIL test system for an autonomous driving cycle, including an input module, an activation module, a first calculation module, a second calculation module and a monitoring module.

[0080] Among them, the input module is used to input driving cycle operating condition information into the pre-built test operation platform; the activation module is used to activate the driving cycle mode according to the driving cycle operating condition information; the first calculation module is used to obtain the actual operating parameters in the driving cycle mode, and combine the preset target vehicle speed to calculate the accelerator pedal opening and brake pedal opening through feedforward adjustment and feedback adjustment; the second calculation module is used to calculate the actual operating parameters based on the accelerator pedal opening and brake pedal opening to form a closed-loop control; the monitoring module is used to monitor the vehicle speed, actual gear position and engine signal in the driving cycle mode in real time to complete the test.

[0081] The working principle of the present invention is as follows:

[0082] The automatic driving cycle signal processing process of the present invention is as follows Figure 4 As shown in the figure, the driving cycle operating condition information, the driving cycle test switch and mode are first set through the driving cycle operating condition model, and then the driving cycle control signal is transmitted to the Environment model. The Environment model determines whether to activate the driving cycle mode by judging the source of the shift lever, accelerator and brake signals; Figure 5 As shown in FIG, based on the actual vehicle speed, drive wheel torque, wheel load power, engine speed signal, friction torque and preset driving cycle target vehicle speed calculated by other power transmission modules, feedforward + feedback composite control is performed to calculate the throttle and brake pedal openings and the shift lever position; the feedback adjustment uses the PI control model as shown in FIG. Figure 6 As shown in the figure, the throttle and brake pedal openings are calculated, and the feedforward regulation adopts two different modes: torque control and power control. Figure 7 As shown, the throttle and brake pedal openings are calculated, and these signals are transmitted to the Vehicle Dynamics, Drive Train, and Power Train modules respectively to calculate the vehicle speed, vehicle braking force, engine speed signal, and engine torque, ultimately forming a closed-loop control. Through information exchange between the controllers of each module, the vehicle can automatically operate according to the preset driving cycle conditions.

[0083] The testing process is simple. First, create a Control Desk project using the sdf file generated from the Simulink model and set up the operating platform. Next, ensure the TCU is powered and connect to the TCU's CAN communication using Kvaser. In the operating platform, calibrate the accelerator and brake pedal signals to driver mode, the shift lever signal to driver mode, and the vehicle is successfully engaged in D gear. Then, turn on the drive cycle test switch, and the vehicle will be tested according to the preset drive cycle conditions. The test window allows observation of measurement parameters such as the preset vehicle speed, actual speed, actual gear position, and engine signals, allowing testers to promptly identify operational issues.

[0084] The testing method of the present invention has the following advantages:

[0085] 1. Realistic simulation: It can simulate the actual vehicle driving conditions and various operating conditions more specifically, making the test closer to the actual situation.

[0086] 2. Comprehensive evaluation: Covering a variety of different driving modes and scenarios, it helps to comprehensively evaluate the performance and reliability of the system under different conditions.

[0087] 3. High repeatability: Specific driving cycles can be accurately repeated, facilitating comparative analysis and troubleshooting.

[0088] 4. Efficiency: Through cyclic testing, potential problems and weak links can be discovered more efficiently, providing a basis for optimization and improvement.

[0089] In one embodiment of the present invention, a computer device is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, the computer program including program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of a HIL test method for an autonomous driving cycle.

[0090] The present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the HIL test method for an autonomous driving cycle in the above embodiment.

[0091] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0093] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A HIL test method for an autonomous driving cycle, characterized in that: The following steps are involved: Enter the driving cycle information into the pre-built test operation platform; Activate driving cycle mode based on driving cycle condition information; In the driving cycle mode, the actual operating parameters are obtained, and combined with the preset target vehicle speed, the accelerator pedal opening and brake pedal opening are calculated through feedforward adjustment and feedback adjustment. Calculate the actual operating parameters based on the accelerator pedal opening and brake pedal opening to form a closed-loop control; The test is completed by monitoring the vehicle speed, actual gear position and engine signals in real time during the driving cycle mode.

2. The HIL test method for an autonomous driving cycle according to claim 1, characterized in that: The test operation platform includes a TCU, a dSPACE PHS system and a host computer; the host computer is respectively connected to the TCU and the dSPACE PHS system; the TCU is connected to the dSPACE PHS system; the dSPACE PHS system includes an I / O board, a bus communication board, an FIU fault injection unit, a load board, a power module and a simulation system; the bus communication board provides residual bus communication for the TCU to exchange signals with the TCU; the FIU fault injection unit can simulate real TCU faults.

3. The HIL testing method for an autonomous driving cycle according to claim 2, characterized in that: The simulation system is used to provide a virtual vehicle environment for the TCU, including an Environment model, a Vehicle Dynamics model, a DriveTrain model, and a Power Train model.

4. The HIL testing method for an autonomous driving cycle according to claim 1, characterized in that: The step of activating the driving cycle mode according to the driving cycle operating condition information specifically includes: determining whether the shift lever signal, throttle signal and brake signal in the driving cycle operating condition information meet the preset driver mode conditions, and activating the driving cycle mode if they meet the conditions.

5. The HIL testing method for an autonomous driving cycle according to claim 1, characterized in that: The actual operating parameters include actual vehicle speed, drive wheel torque, wheel load power, engine speed and friction torque.

6. The HIL testing method for an autonomous driving cycle according to claim 1, characterized in that: The process of the feedforward regulation specifically includes: In torque control mode: a. Calculate the engine torque request based on the applied drive wheel torque and the transmission ratio. The specific calculation formula is: Engine torque requirement = torque applied to driving wheels × gear ratio b. Calculate the braking request torque based on the engine friction torque and the transmission ratio. The specific calculation formula is: Braking request torque = engine friction torque × gear ratio In power control mode: a. Calculate the engine torque request based on the engine speed and wheel load power. The specific calculation formula is: Engine torque requirement = wheel load power ÷ engine speed b. Calculate the braking request torque based on the engine friction torque, engine speed, vehicle speed, and tire radius. The specific calculation formula is: Braking request torque = engine friction torque × engine speed ÷ vehicle speed × tire radius c. Calculate the accelerator pedal opening based on the engine's requested torque and engine speed using a table lookup; The accelerator pedal opening is calculated by looking up the table based on the engine speed and the engine requested torque; The brake pedal opening is calculated based on the brake request torque and the maximum rated brake torque. The specific calculation formula is: Brake pedal opening = brake request torque ÷ maximum rated brake torque.

7. The HIL testing method for an autonomous driving cycle according to claim 1, characterized in that: The feedback adjustment process includes: calculating the accelerator pedal opening and the brake pedal opening using a PI control model according to the actual vehicle speed and the target vehicle speed.

8. A HIL test system for an autonomous driving cycle, characterized in that: include: An input module is used to input driving cycle information into a pre-built test operation platform; an activation module, configured to activate a driving cycle mode according to driving cycle condition information; The first calculation module is used to obtain actual operating parameters in the driving cycle mode, and calculate the accelerator pedal opening and brake pedal opening by feedforward adjustment and feedback adjustment in combination with the preset target vehicle speed; The second calculation module is used to calculate the actual operating parameters according to the accelerator pedal opening and the brake pedal opening to form a closed-loop control; The monitoring module is used to monitor the vehicle speed, actual gear position and engine signal in real time under the driving cycle mode to complete the test.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the HIL testing method for an autonomous driving cycle as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the HIL testing method for an autonomous driving cycle as described in any one of claims 1 to 7 are implemented.

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